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Changes

Summary

  1. feat: 支持 KEB roadside 分层规划 (details)
  2. feat: 完善 KEB roadside 分类可视化 (details)
  3. test: 增加 KEB 本地自动回归集 (details)
  4. docs: 完善 KEB 工具与回归说明 (details)
Commit c3f9f84f2e4b1b2b249d71f9ea5909012143a4aa by wuyanjun110
feat: 支持 KEB roadside 分层规划

将 roadside 与普通 underlying OGM 分层建图并使用独立安全阈值，覆盖 IMV、刚性卡车以及牵引车和挂车包络。

完善堆场边界不扩展、LaneFollow 异步路径复用、PathOptimize warm-start 状态拆分、KebScene presence 兼容及 replayer 输入重建。
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.hpp
The file was modifiedproto/keb_scene.proto
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_utils_core.hpp
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifieddata/plan/keb_visualize_data.hpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit e6c0f326747db692ee5e7fa3d2106806d0032dad by wuyanjun110
feat: 完善 KEB roadside 分类可视化

在 HMI、Diagnose、Web Viewer、CLI debug viewer 和 Foxglove 中独立显示 roadside 层及其开关、阈值和最小间距。

同时修复 Foxglove Python proto 的生成目录层级。
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedoffboard/keb_vis_server/foxglove/generate_protos.sh
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedoffboard/keb_vis_server/foxglove/keb_to_mcap.py
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cc
Commit ac589114078e8b4a587a8c651575f6d4c15698d0 by wuyanjun110
test: 增加 KEB 本地自动回归集

新增清单驱动的 KebScene 多帧回归入口，校验帧数、成功率、超时和耗时阈值，并支持标签筛选与结果留存。

加入 CAR LaneFollow 和 TT PathOptimize 两条共享盘基础基线，回归时关闭 MCAP 转换。
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was addedoffboard/keb_path_opt_cli/local_regression/.gitignore
The file was addedoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsv
The file was addedoffboard/keb_path_opt_cli/local_regression/run_keb_regression.py
Commit b1a5d601247c5b4373964b25df574fc7f7977caf by wuyanjun110
docs: 完善 KEB 工具与回归说明

补充 KEB CLI 模式、roadside 字段语义、分类可视化、共享盘数据布局、回归准入规则和 bag 提取流程。
The file was modifiedoffboard/keb_vis_server/foxglove/README.md
The file was addedoffboard/keb_path_opt_cli/README.md
The file was modifiedoffboard/bag_to_keb_scene/README.md
The file was addedoffboard/keb_path_opt_cli/local_regression/README.md