Perception: migrate data fusion

modules/perception/base/point.h

@@ -76,6 +76,8 @@ struct Point2D {
   T y = 0;
 };
 
+using Point2DF = Point2D<float>;
+
 template <typename T>
 struct Point3D {
   T x = 0;

modules/perception/fusion/lib/data_association/hm_data_association/BUILD.txt → modules/perception/fusion/lib/data_association/hm_data_association/BUILD

-# DO NOT MODIFY
-# THIS FILE IS GENERATED AUTOMATICALLY TO HELP WRITE BUILD FILE
-# DELETE THIS FILE WHEN YOU HAVE CREATED THE COMPLETE BUILD FILE
 load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "chi_squared_cdf_1_0",
-    deps = [
-    ],
-)
-
-cc_library(
-    name = "chi_squared_cdf_2_0",
-    deps = [
+    name = "chi_squared_cdf",
+    hdrs = [
+        "chi_squared_cdf_1_0.0500_0.999900.h",
+        "chi_squared_cdf_2_0.0500_0.999900.h",
     ],
 )
 
@@ -26,6 +19,11 @@ cc_library(
         "hm_tracks_objects_match.h",
     ],
     deps = [
+        "//modules/perception/common/graph:gated_hungarian_bigraph_matcher",
+        ":track_object_distance",
+        "//modules/perception/fusion/lib/interface:interface",
+        "//modules/perception/common/graph:secure_matrix",
+        "//modules/perception/fusion/base:scene",
     ],
 )
 
@@ -37,8 +35,6 @@ cc_library(
     hdrs = [
         "probabilities.h",
     ],
-    deps = [
-    ],
 )
 
 cc_library(
@@ -46,8 +42,6 @@ cc_library(
     hdrs = [
         "projection_cache.h",
     ],
-    deps = [
-    ],
 )
 
 cc_library(
@@ -59,6 +53,20 @@ cc_library(
         "track_object_distance.h",
     ],
     deps = [
+        "//modules/perception/common/sensor_manager:sensor_manager",
+        "//modules/perception/fusion/base:fusion_log",
+        "//modules/perception/fusion/base:sensor_data_manager",
+        "//modules/perception/fusion/base:sensor",
+        "//modules/perception/fusion/base:track",
+        "//modules/perception/fusion/common:camera_util",
+        "//modules/perception/base:point_cloud",
+        ":probabilities",
+        ":projection_cache",
+        ":track_object_similarity",
+        "//modules/perception/base:camera",
+        "//modules/perception/base:base_type",
+        "//modules/perception/common/geometry:camera_homography",
+        ":chi_squared_cdf",
     ],
 )
 
@@ -71,6 +79,12 @@ cc_library(
         "track_object_similarity.h",
     ],
     deps = [
+        ":chi_squared_cdf",
+        "//modules/perception/fusion/base:fusion_log",
+        "//modules/perception/fusion/common:camera_util",
+        "//modules/perception/fusion/base:sensor",
+        ":probabilities",
+        ":projection_cache",
     ],
 )
 

modules/perception/fusion/lib/data_association/hm_data_association/hm_tracks_objects_match.cc

@@ -14,10 +14,13 @@
  * limitations under the License.
  *****************************************************************************/
 #include "modules/perception/fusion/lib/data_association/hm_data_association/hm_tracks_objects_match.h"
+
 #include <algorithm>
 #include <map>
 #include <utility>
 
+#include "modules/perception/common/graph/secure_matrix.h"
+
 namespace apollo {
 namespace perception {
 namespace fusion {
@@ -195,11 +198,11 @@ bool HMTrackersObjectsAssociation::MinimizeAssignment(
     std::vector<size_t>* unassigned_measurements) {
   common::GatedHungarianMatcher<float>::OptimizeFlag opt_flag =
       common::GatedHungarianMatcher<float>::OptimizeFlag::OPTMIN;
-  common::SecureMat<float>& global_costs = optimizer_.global_costs();
+  common::SecureMat<float> global_costs = optimizer_.global_costs();
   int rows = unassigned_tracks->size();
   int cols = unassigned_measurements->size();
 
-  global_costs.resize(rows, cols);
+  global_costs.Resize(rows, cols);
   for (size_t r_i = 0; r_i < rows; r_i++) {
     for (size_t c_i = 0; c_i < cols; c_i++) {
       global_costs(r_i, c_i) = static_cast<float>(association_mat[r_i][c_i]);

modules/perception/fusion/lib/data_association/hm_data_association/hm_tracks_objects_match.h

@@ -15,8 +15,10 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_FUSION_LIB_SENSOR_HM_TRACKS_OBJECTS_MATCH_H_
 #define MODULES_PERCEPTION_FUSION_LIB_SENSOR_HM_TRACKS_OBJECTS_MATCH_H_
+
 #include <string>
 #include <vector>
+
 #include "modules/perception/common/graph/gated_hungarian_bigraph_matcher.h"
 #include "modules/perception/fusion/lib/data_association/hm_data_association/track_object_distance.h"
 #include "modules/perception/fusion/lib/interface/base_data_association.h"

modules/perception/fusion/lib/data_association/hm_data_association/track_object_distance.cc

@@ -14,17 +14,19 @@
  * limitations under the License.
  *****************************************************************************/
 #include "modules/perception/fusion/lib/data_association/hm_data_association/track_object_distance.h"
+
 #include <algorithm>
 #include <limits>
 #include <map>
 #include <string>
 #include <utility>
+
 #include "boost/format.hpp"
+
 #include "modules/perception/base/camera.h"
+#include "modules/perception/base/point.h"
 #include "modules/perception/base/sensor_meta.h"
 #include "modules/perception/common/geometry/camera_homography.h"
-#include "modules/perception/fusion/base/sensor_data_manager.h"
-#include "modules/perception/fusion/common/camera_util.h"
 #include "modules/perception/fusion/lib/data_association/hm_data_association/chi_squared_cdf_1_0.0500_0.999900.h"
 #include "modules/perception/fusion/lib/data_association/hm_data_association/chi_squared_cdf_2_0.0500_0.999900.h"
 

modules/perception/fusion/lib/data_association/hm_data_association/track_object_distance.h

@@ -19,7 +19,9 @@
 #include <string>
 #include <unordered_map>
 #include <vector>
+
 #include "Eigen/StdVector"
+
 #include "modules/perception/common/sensor_manager/sensor_manager.h"
 #include "modules/perception/fusion/base/fusion_log.h"
 #include "modules/perception/fusion/base/sensor_data_manager.h"

modules/perception/fusion/lib/data_association/hm_data_association/track_object_similarity.cc

@@ -14,10 +14,12 @@
  * limitations under the License.
  *****************************************************************************/
 #include "modules/perception/fusion/lib/data_association/hm_data_association/track_object_similarity.h"
+
 #include <algorithm>
 #include <iostream>
 #include <limits>
 #include <vector>
+
 #include "modules/perception/fusion/base/fusion_log.h"
 #include "modules/perception/fusion/common/camera_util.h"
 

modules/perception/fusion/lib/data_association/hm_data_association/track_object_similarity.h

@@ -15,7 +15,9 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_FUSION_LIB_DATA_ASSOCIATION_TRACK_OBJECT_SIMILARITY_H_
 #define MODULES_PERCEPTION_FUSION_LIB_DATA_ASSOCIATION_TRACK_OBJECT_SIMILARITY_H_
+
 #include <vector>
+
 #include "modules/perception/fusion/base/sensor_object.h"
 #include "modules/perception/fusion/lib/data_association/hm_data_association/chi_squared_cdf_1_0.0500_0.999900.h"
 #include "modules/perception/fusion/lib/data_association/hm_data_association/chi_squared_cdf_2_0.0500_0.999900.h"

modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/BUILD.txt

-# DO NOT MODIFY
-# THIS FILE IS GENERATED AUTOMATICALLY TO HELP WRITE BUILD FILE
-# DELETE THIS FILE WHEN YOU HAVE CREATED THE COMPLETE BUILD FILE
 load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
@@ -14,6 +11,11 @@ cc_library(
         "pbf_gatekeeper.h",
     ],
     deps = [
+		"//modules/perception/fusion/base:base_init_options"
+		"//modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/proto:pbf_gatekeeper_config_proto"
+		"//modules/perception/lib/config_manager:config_manager"
+		"//modules/perception/lib/io:file_util"
+		"//modules/perception/lib/io:protobuf_util"
     ],
 )
 

modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.h

@@ -15,6 +15,7 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_FUSION_LIB_GATEKEEPER_PBF_GATEKEEPER_PBF_GATEKEEPER_H_
 #define MODULES_PERCEPTION_FUSION_LIB_GATEKEEPER_PBF_GATEKEEPER_PBF_GATEKEEPER_H_
+
 #include <string>
 #include <vector>
 

modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/proto/BUILD

@@ -14,8 +14,6 @@ proto_library(
     srcs = [
         "pbf_gatekeeper_config.proto",
     ],
-    deps = [
-    ],
 )
 
 cpplint()