perception: add some point cloud alias back to make build easier.

modules/perception/base/point_cloud.h

@@ -433,6 +433,31 @@ class AttributePointCloud : public PointCloud<PointT> {
   std::vector<uint8_t> points_label_;
 };
 
+// typedef of point cloud indices
+typedef std::shared_ptr<PointIndices> PointIndicesPtr;
+typedef std::shared_ptr<const PointIndices> PointIndicesConstPtr;
+
+// typedef of point cloud
+typedef AttributePointCloud<PointF> PointFCloud;
+typedef AttributePointCloud<PointD> PointDCloud;
+
+typedef std::shared_ptr<PointFCloud> PointFCloudPtr;
+typedef std::shared_ptr<const PointFCloud> PointFCloudConstPtr;
+
+typedef std::shared_ptr<PointDCloud> PointDCloudPtr;
+typedef std::shared_ptr<const PointDCloud> PointDCloudConstPtr;
+
+// typedef of polygon
+typedef PointCloud<PointF> PolygonFType;
+typedef PointCloud<PointD> PolygonDType;
+
+typedef std::shared_ptr<PolygonFType> PolygonFTypePtr;
+typedef std::shared_ptr<const PolygonFType> PolygonFTypeConstPtr;
+
+typedef std::shared_ptr<PolygonDType> PolygonDTypePtr;
+typedef std::shared_ptr<const PolygonDType> PolygonDTypeConstPtr;
+
+
 }  // namespace base
 }  // namespace perception
 }  // namespace apollo

modules/perception/lib/utils/BUILD

@@ -5,6 +5,7 @@ package(default_visibility = ["//visibility:public"])
 cc_library(
     name = "utils",
     deps = [
+        ":perception_perf",
         ":perception_timer",
         ":perception_time_util",
     ],

modules/perception/lidar/app/proto/BUILD

@@ -3,31 +3,19 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_proto_library(
-    name = "lidar_obstacle_segmentation_config_proto",
+    name = "app_proto",
     deps = [
-        ":lidar_obstacle_segmentation_config_proto_lib",
+        ":app_proto_lib",
     ],
 )
 
 proto_library(
-    name = "lidar_obstacle_segmentation_config_proto_lib",
+    name = "app_proto_lib",
     srcs = [
         "lidar_obstacle_segmentation_config.proto",
-    ],
-)
-
-cc_proto_library(
-    name = "lidar_obstacle_tracking_config_proto",
-    deps = [
-        ":lidar_obstacle_tracking_config_proto_lib",
-    ],
-)
-
-proto_library(
-    name = "lidar_obstacle_tracking_config_proto_lib",
-    srcs = [
         "lidar_obstacle_tracking_config.proto",
     ],
 )
 
+
 cpplint()

modules/perception/lidar/common/BUILD

@@ -6,6 +6,7 @@ cc_library(
     name = "common",
     deps = [
         ":cloud_mask",
+        ":lidar_error_code",
         ":lidar_frame",
         ":lidar_log",
         ":lidar_object_util",
@@ -104,6 +105,13 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "lidar_error_code",
+    hdrs = [
+        "lidar_error_code.h",
+    ],
+)
+
 cc_library(
     name = "pcl_util",
     hdrs = [