perception: fix breaked build

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

@@ -16,7 +16,7 @@
 
 #include "modules/perception/fusion/lib/data_association/hm_data_association/hm_tracks_objects_match.h"
 
-#include <gtest/gtest.h>
+#include "gtest/gtest.h"
 
 #include "modules/perception/base/frame.h"
 #include "modules/perception/common/sensor_manager/sensor_manager.h"
@@ -170,8 +170,8 @@ TEST(MatcherTest, test_all) {
   EXPECT_FLOAT_EQ(association_mat[2][1], 4.0);
   unassigned_tracks.clear();
   unassigned_measurements.clear();
-  std::vector<TrackMeasurmentPair> assignments; 
-  //test id assign with do_nothing equals to true 
+  std::vector<TrackMeasurmentPair> assignments;
+  //test id assign with do_nothing equals to true
   matcher.IdAssign(fusion_tracks, sensor_objects, &assignments,
                    &unassigned_tracks, &unassigned_measurements, true);
   EXPECT_EQ(0, assignments.size());

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

@@ -11,14 +11,14 @@ cc_library(
         "pbf_gatekeeper.h",
     ],
     deps = [
-        "//modules/perception/fusion/lib/interface:interface",
+        "//modules/common/util",
         "//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/base:scene",
         "//modules/perception/fusion/base:track",
+        "//modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/proto:pbf_gatekeeper_config_proto",
+        "//modules/perception/fusion/lib/interface",
+        "//modules/perception/lib/config_manager",
+        "//modules/perception/lib/io:file_util",
     ],
 )
 
@@ -29,11 +29,11 @@ cc_test(
         "pbf_gatekeeper_test.cc",
     ],
     deps = [
-        "@gtest//:main",
         ":pbf_gatekeeper",
-        "//modules/perception/common/sensor_manager:sensor_manager",
+        "//modules/perception/common/sensor_manager",
         "//modules/perception/fusion/base:sensor",
         "//modules/perception/fusion/base:track",
+        "@gtest//:main",
     ],
 )
 

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

@@ -48,8 +48,8 @@ bool PbfGatekeeper::Init() {
       lib::FileUtil::GetAbsolutePath(woork_root_config, options.conf_file);
   PbfGatekeeperConfig params;
 
-  if (!apollo::common::util::GetProtoFromFile<PbfGatekeeperConfig>(
-      config, &params)) {
+  if (!apollo::common::util::GetProtoFromFile<PbfGatekeeperConfig>(config,
+                                                                   &params)) {
     AERROR << "Read config failed: " << config;
     return false;
   }
@@ -100,7 +100,8 @@ bool PbfGatekeeper::AbleToPublish(const TrackPtr &track) {
 
   track->AddTrackedTimes();
   if (params_.use_track_time_pub_strategy &&
-      track->GetTrackedTimes() <= params_.pub_track_time_thresh) {
+      track->GetTrackedTimes() <=
+          static_cast<size_t>(params_.pub_track_time_thresh)) {
     return false;
   }
   return true;
@@ -164,11 +165,11 @@ bool PbfGatekeeper::RadarAbleToPublish(const TrackPtr &track, bool is_night) {
       //   }
       // }
     } else if (radar_object->GetSensorId() == "radar_rear") {
-      ADEBUG << "radar_rear: min_dis: "
-                << params_.min_radar_confident_distance << " obj dist: "
-                << radar_object->GetBaseObject()->radar_supplement.range
-                << " track_id: " << track->GetTrackId()
-                << " exist_prob: " << track->GetExistanceProb();
+      ADEBUG << "radar_rear: min_dis: " << params_.min_radar_confident_distance
+             << " obj dist: "
+             << radar_object->GetBaseObject()->radar_supplement.range
+             << " track_id: " << track->GetTrackId()
+             << " exist_prob: " << track->GetExistanceProb();
       if (radar_object->GetBaseObject()->radar_supplement.range >
               params_.min_radar_confident_distance &&
           (radar_object->GetBaseObject()->velocity.norm() > 4.0 ||