fix(perception): fix lidar offline tool

Change-Id: I117da9570084f4dddd549ce2fd453e7554d18896

Author: wangfanghao

modules/perception/camera/lib/lane/postprocessor/darkSCNN/darkSCNN_lane_postprocessor.h

@@ -68,6 +68,7 @@ class DarkSCNNLanePostprocessor : public BaseLanePostprocessor {
     trans_mat_inv = trans_mat_.inverse();
   }
 
+  // Todo(daohu527): Need define!
   std::vector<std::vector<LanePointInfo>> GetLanelinePointSet();
   std::vector<LanePointInfo> GetAllInferLinePointSet();
 

modules/perception/lidar/app/lidar_obstacle_detection.cc

@@ -18,11 +18,12 @@
 #include "cyber/common/file.h"
 #include "modules/common/util/perf_util.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
-#include "modules/perception/lidar/app/proto/lidar_obstacle_detection_config.pb.h"
 #include "modules/perception/lidar/common/lidar_log.h"
 #include "modules/perception/lidar/lib/scene_manager/scene_manager.h"
 #include "modules/perception/pipeline/pipeline.h"
 
+#include "modules/perception/lidar/app/proto/lidar_obstacle_detection_config.pb.h"
+
 namespace apollo {
 namespace perception {
 namespace lidar {

modules/perception/lidar/app/lidar_obstacle_tracking.cc

@@ -18,9 +18,10 @@
 #include "cyber/common/file.h"
 #include "modules/common/util/perf_util.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
-#include "modules/perception/lidar/app/proto/lidar_obstacle_tracking_config.pb.h"
 #include "modules/perception/lidar/common/lidar_log.h"
 
+#include "modules/perception/lidar/app/proto/lidar_obstacle_tracking_config.pb.h"
+
 namespace apollo {
 namespace perception {
 namespace lidar {

modules/perception/lidar/tools/BUILD

@@ -0,0 +1,24 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary")
+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_binary(
+    name = "offline_lidar_obstacle_perception",
+    srcs = ["offline_lidar_obstacle_perception.cc"],
+    deps = [
+        "//cyber",
+        "//modules/perception/base",
+        "//modules/perception/common:perception_gflags",
+        "//modules/perception/common/io:io_util",
+        "//modules/perception/common/point_cloud_processing",
+        "//modules/perception/common/sensor_manager",
+        "//modules/perception/lidar/app",
+        "//modules/perception/pipeline/proto:pipeline_config_cc_proto",
+        "@com_github_gflags_gflags//:gflags",
+        "@com_google_absl//:absl",
+        "@eigen",
+    ],
+)
+
+cpplint()

modules/perception/lidar/tools/BUILD_

@@ -12,7 +12,8 @@ cc_library(
         "//modules/perception/lidar/common:pcl_util",
         "//modules/perception/onboard/transform_wrapper",
         "@com_google_absl//:absl",
-        "@opencv",
+        "@opencv//:imgproc",
+        "@opencv//:imgcodecs",
     ],
 )