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Perception: factorize Perception BUILD target
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@jeroldchen @jinghaomiao
jeroldchen authored and jinghaomiao committed Jul 20, 2020
1 parent 7757510 commit bec63ce
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Showing 2 changed files with 98 additions and 27 deletions.
4 changes: 0 additions & 4 deletions modules/perception/lidar/app/BUILD
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Original file line number Diff line number Diff line change
Expand Up @@ -20,11 +20,7 @@ cc_library(
"//modules/perception/lib/utils",
"//modules/perception/lidar/app/proto:lidar_obstacle_detection_config_cc_proto",
"//modules/perception/lidar/lib/detection/lidar_point_pillars:point_pillars_detection",
# "//modules/perception/lidar/lib/map_manager",
# "//modules/perception/lidar/lib/object_builder",
# "//modules/perception/lidar/lib/object_filter_bank",
"//modules/perception/lidar/lib/pointcloud_preprocessor",
# "//modules/perception/lidar/lib/scene_manager",
"@eigen",
],
)
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121 changes: 98 additions & 23 deletions modules/perception/onboard/component/BUILD
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Original file line number Diff line number Diff line change
Expand Up @@ -12,50 +12,102 @@ cc_binary(

cc_library(
name = "perception_component_inner_lidar",
copts = [
'-DMODULE_NAME=\\"perception\\"',
],
deps = [
":perception_component_inner_detection",
":perception_component_inner_fusion",
":perception_component_inner_radar",
":perception_component_inner_recognition",
],
alwayslink = True,
)

cc_library(
name = "lidar_inner_component_messages",
hdrs = [
"lidar_inner_component_messages.h",
],
deps = [
"//cyber",
"//modules/perception/lidar/common",
"//modules/perception/onboard/inner_component_messages",
],
)

cc_library(
name = "perception_component_inner_detection",
srcs = [
"detection_component.cc",
"fusion_component.cc",
"radar_detection_component.cc",
"recognition_component.cc",
],
hdrs = [
"detection_component.h",
"fusion_component.h",
"lidar_inner_component_messages.h",
"radar_detection_component.h",
"recognition_component.h",
],
copts = [
'-DMODULE_NAME=\\"perception\\"',
deps = [
":lidar_inner_component_messages",
"//cyber",
"//modules/common/time",
"//modules/perception/common/sensor_manager",
"//modules/perception/lib/registerer",
"//modules/perception/lib/utils",
"//modules/perception/lidar/app:lidar_obstacle_detection",
"//modules/perception/lidar/common",
"//modules/perception/onboard/common_flags",
"//modules/perception/onboard/proto:lidar_component_config_cc_proto",
"//modules/perception/onboard/transform_wrapper",
"@eigen",
],
)

cc_library(
name = "perception_component_inner_fusion",
srcs = [
"fusion_component.cc",
],
hdrs = [
"fusion_component.h",
],
deps = [
"//cyber",
"//modules/common/time",
"//modules/perception/base",
"//modules/perception/common:perception_gflags",
"//modules/perception/common/sensor_manager",
"//modules/perception/fusion/app:obstacle_multi_sensor_fusion",
"//modules/perception/fusion/base",
"//modules/perception/fusion/lib/dummy:dummy_algorithms",
"//modules/perception/fusion/lib/fusion_system/probabilistic_fusion",
"//modules/perception/fusion/lib/interface",
"//modules/perception/lib/registerer",
"//modules/perception/lib/utils",
"//modules/perception/lidar/app",
"//modules/perception/lidar/common",
"//modules/perception/lidar/lib/classifier/fused_classifier",
"//modules/perception/lidar/lib/classifier/fused_classifier:ccrf_type_fusion",
"//modules/perception/lidar/lib/interface",
"//modules/perception/lidar/lib/tracker/multi_lidar_fusion:mlf_engine",
"//modules/perception/lidar/lib/tracker/multi_lidar_fusion:mlf_track_object_matcher",
"//modules/perception/lidar/lib/tracker/multi_lidar_fusion:mlf_tracker",
"//modules/perception/map/hdmap:hdmap_input",
"//modules/perception/onboard/common_flags",
"//modules/perception/onboard/inner_component_messages",
"//modules/perception/onboard/msg_buffer",
"//modules/perception/onboard/msg_serializer",
"//modules/perception/onboard/proto:fusion_component_config_cc_proto",
"//modules/perception/onboard/proto:lidar_component_config_cc_proto",
"@eigen",
],
)

cc_library(
name = "perception_component_inner_radar",
srcs = [
"radar_detection_component.cc",
],
hdrs = [
"radar_detection_component.h"
],
deps = [
"//cyber",
"//modules/common/time",
"//modules/perception/base",
"//modules/perception/common/sensor_manager",
"//modules/perception/lib/registerer",
"//modules/perception/lib/utils",
"//modules/perception/map/hdmap:hdmap_input",
"//modules/perception/onboard/common_flags",
"//modules/perception/onboard/inner_component_messages",
"//modules/perception/onboard/msg_buffer",
"//modules/perception/onboard/proto:radar_component_config_cc_proto",
"//modules/perception/onboard/transform_wrapper",
"//modules/perception/radar/app:radar_obstacle_perception",
Expand All @@ -76,10 +128,33 @@ cc_library(
"//modules/perception/radar/lib/tracker/conti_ars_tracker",
"//modules/perception/radar/lib/tracker/filter:adaptive_kalman_filter",
"//modules/perception/radar/lib/tracker/matcher:hm_matcher",
"//modules/transform:tf2_buffer_lib",
"@eigen",
],
alwayslink = True,
)

cc_library(
name = "perception_component_inner_recognition",
srcs = [
"recognition_component.cc",
],
hdrs = [
"recognition_component.h",
],
deps = [
":lidar_inner_component_messages",
"//cyber",
"//modules/common/time",
"//modules/perception/base",
"//modules/perception/common/sensor_manager",
"//modules/perception/lib/registerer",
"//modules/perception/lib/utils",
"//modules/perception/lidar/app:lidar_obstacle_tracking",
"//modules/perception/lidar/common",
"//modules/perception/lidar/lib/interface",
"//modules/perception/lidar/lib/tracker/multi_lidar_fusion:mlf_engine",
"//modules/perception/lidar/lib/tracker/multi_lidar_fusion:mlf_track_object_matcher",
"//modules/perception/lidar/lib/tracker/multi_lidar_fusion:mlf_tracker",
"//modules/perception/onboard/proto:lidar_component_config_cc_proto",
],
)

cpplint()

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