[Jenkins]Jenkins

Changes

Summary

  1. Update vehicleInfo.groovy (details)
  2. Update vehicleInfo.groovy (details)
Commit 83462ac4b69dfc7a3d561357596aa31498f81f87 by weilikang
Update vehicleInfo.groovy
The file was modifiedsrc/org/devops/vehicleInfo.groovy
Commit c81b4f6e9439896e6d33502148f15cca16fb7108 by weilikang
Update vehicleInfo.groovy
The file was modifiedsrc/org/devops/vehicleInfo.groovy

Summary

  1. Update hainan-yangpu-submodule.jenkinsfile (details)
Commit b0ad98926e5d57aec662f54730ee581e7fc7b6b5 by weilikang
Update hainan-yangpu-submodule.jenkinsfile
The file was modifiedparams/hainan-yangpu-submodule.jenkinsfile

Summary

  1. note_out:威海空挂挂角适配初版. (details)
  2. note_out:威海顶后雷达空挂挂角检出适配. (details)
  3. note_out:同步最新模型. (details)
  4. note_out:合并接挂相关. (details)
  5. note_out: 对车挂参数判空 (details)
  6. note_out: 接收挂参bug (details)
  7. note_out:威海接挂消息适配,0无挂,1有挂有箱,2有挂无箱. (details)
  8. note_out:修复airy雷达可能的range访问越界问题. (details)
  9. note_out:修改seg NROI位置,减少进入地面分割等重复计算的点数. (details)
  10. note_out:NROI过滤点在debug模式下加入到rectified_cloud显示中. (details)
  11. note_out:沟沿点适配NROI修改. (details)
  12. note_out:洋浦NROI修改. (details)
  13. note_out:增加参数控制NROI前移至地面校正前. (details)
  14. note_out: NROI过滤修改. (details)
  15. note_out:修改额外NROI区域,接受list参数去除多个位置. (details)
  16. note_out:合并rc_dev关于NROI的修改. (details)
  17. note_out:附加NROI区域增加z值范围约束. (details)
  18. 倒车时小角度下不信任与ekf差值大的矫正值 (details)
  19. 箱体面拟合时剔除rear_dewn雷达点 (details)
  20. rear_down雷达中z>2.6点遗留bug处理 (details)
  21. note_out:青威更新高分阈值. (details)
  22. note_out:修复空挂修正车挂框无显示问题. (details)
  23. note_out:修复truck_trailer_change使用挡流板校正时EKF没使用其值的问题. (details)
  24. note_out:甲板上降低点云过滤高度4.4->4.2. (details)
  25. note_out:威海船舱内非行人类别静态不输出obj. (details)
  26. note_out:合并weihai_jt128分支. (details)
  27. note_out:修复挂状态切换车头过滤默认值错误的bug. (details)
  28. note_out:修复箱体面校正丢弃rear_down雷达点云的问题. (details)
  29. note_out:车头后部过滤高度降低生效条件为trailer_label>0. (details)
  30. note_out:增加威海船舱内甲板像素&&相关策略. (details)
  31. note_out:威海过滤船舱内的stacker. (details)
  32. note_out: 青威车身点在原坐标系下经过过滤框. (details)
  33. note_out:去除调试打印日志. (details)
  34. note_out:车头无挂状态不处理车挂EKF和过滤. (details)
  35. note_out:车头无挂状态不处理车挂EKF和过滤. (details)
  36. note_out:威海增加车挂信息校验&&不匹配达60帧以上时发出301044故障码. (details)
  37. note_out:不匹配达60帧以上时发出301044改为TAKEOVER级别. (details)
Commit 052eae6b5b1fe4399611cc30d5eee334c862e128 by tangxiao
note_out:威海空挂挂角适配初版.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calculator.cpp
Commit 19d0d67c0d3e3cda83394d6e17b1655e195fee1a by tangxiao
note_out:威海顶后雷达空挂挂角检出适配.
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h
The file was modifiedperception/dl_detection/common/dld_params_config.h
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calculator.h
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calculator.cpp
Commit 3906e93fc130df3093ea39cac595780538566eb7 by tangxiao
note_out:同步最新模型.
The file was modifiedperception/dl_detection/params/model
The file was modifiedperception/dl_detection/lidar/impl/dld_inference_processor.cpp
The file was modifiedperception/dl_detection/lib/centerpoint
Commit b8d2628e1cc3eb2999a872a56e8616b01870449a by tangxiao
note_out:合并接挂相关.
The file was modifiedperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp
The file was modifiedperception/dl_detection/services/impl/dld_sensor_msg_manager.cpp
The file was modifiedperception/dl_detection/services/impl/dld_vehicle.cpp
The file was modifiedperception/dl_detection/services/dld_sensor_msg_manager.h
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/services/dld_vehicle.h
Commit 0a6c60357a06f807b93bac06e365367047f6d81c by tangxiao
note_out: 对车挂参数判空
The file was modifiedperception/dl_detection/services/impl/dld_sensor_msg_manager.cpp
Commit 2b79e03b24a1867a34397646f24438d9f8ec7eb8 by tangxiao
note_out: 接收挂参bug
The file was modifiedperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
The file was modifiedperception/dl_detection/services/impl/dld_sensor_msg_manager.cpp
Commit 3bdd818206524ffd2ad6b5b2910d48303f51692d by tangxiao
note_out:威海接挂消息适配,0无挂,1有挂有箱,2有挂无箱.
The file was modifiedperception/dl_detection/services/dld_sensor_msg_manager.h
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/services/dld_vehicle.h
The file was modifiedperception/dl_detection/services/impl/dld_sensor_msg_manager.cpp
The file was modifiedperception/dl_detection/services/impl/dld_vehicle.cpp
Commit e40d6692b5763c829729203bcc020dcc9d82e334 by tangxiao
note_out:修复airy雷达可能的range访问越界问题.
The file was modifiedperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
Commit 948bda0fa8c57acd84505aef57f1553dffc996d2 by tangxiao
note_out:修改seg NROI位置,减少进入地面分割等重复计算的点数.
The file was modifiedperception/ground_segmentation/services/impl/seg_transform_step.cpp
The file was modifiedperception/ground_segmentation/services/seg_transform_step.h
Commit 7ea325a50822e4d9a7b3b2cbfacdad54103f1de9 by tangxiao
note_out:NROI过滤点在debug模式下加入到rectified_cloud显示中.
The file was modifiedperception/ground_segmentation/services/seg_transform_step.h
The file was modifiedperception/ground_segmentation/components/seg_transform.cpp
The file was modifiedperception/ground_segmentation/common/data_injector.h
The file was modifiedperception/ground_segmentation/services/seg_obstacle_step.h
The file was modifiedperception/ground_segmentation/components/seg_obstacle.cpp
The file was modifiedperception/ground_segmentation/common/basic_types.h
The file was modifiedperception/ground_segmentation/services/impl/seg_transform_step.cpp
The file was modifiedperception/ground_segmentation/common/data_injector.cpp
The file was modifiedperception/ground_segmentation/common/grd_utils.cpp
The file was modifiedperception/ground_segmentation/services/impl/seg_obstacle_step.cpp
Commit 8841df256b321afed9979d925bcae7b9f19a6fcd by tangxiao
note_out:沟沿点适配NROI修改.
The file was modifiedperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
Commit f4a6f77032b0f2a8a1d2e644294f8f3e2a1fac91 by tangxiao
note_out:洋浦NROI修改.
The file was modifiedperception/ground_segmentation/common/basic_types.h
The file was modifiedperception/ground_segmentation/common/grd_utils.cpp
The file was modifiedperception/ground_segmentation/services/impl/seg_transform_step.cpp
Commit 64cff8abf56f731a8f245cc2b95e3a4477e87185 by tangxiao
note_out:增加参数控制NROI前移至地面校正前.
The file was modifiedperception/ground_segmentation/services/impl/seg_transform_step.cpp
The file was modifiedperception/ground_segmentation/common/basic_types.h
The file was modifiedperception/ground_segmentation/common/grd_utils.cpp
Commit e06bb740e8aed11d2ebb30252195df36f4eb2f12 by tangxiao
note_out: NROI过滤修改.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/common/utils.h
The file was modifiedperception/ground_segmentation/services/impl/seg_transform_step.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_suf_impl.cpp
The file was modifiedperception/ground_segmentation/common/grd_utils.cpp
The file was modifiedperception/ground_segmentation/common/basic_types.h
Commit 648afc387e1ca0f89e19952967183043b3b001a0 by tangxiao
note_out:修改额外NROI区域,接受list参数去除多个位置.
The file was modifiedperception/ground_segmentation/common/basic_types.h
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/ground_segmentation/common/grd_utils.cpp
The file was modifiedperception/ground_segmentation/services/impl/seg_transform_step.cpp
Commit df6ed322c634df889158a211414006bbe9215da3 by tangxiao
note_out:合并rc_dev关于NROI的修改.
The file was modifiedperception/dl_detection/params/model
Commit 0ab651107895ba40da24196ba055950b4ae558ed by tangxiao
note_out:附加NROI区域增加z值范围约束.
The file was modifiedperception/ground_segmentation/services/impl/seg_transform_step.cpp
The file was modifiedperception/ground_segmentation/common/grd_utils.cpp
Commit 23abbe6a7fbe07d29b6bc36bdfd46cc1172173ca by liuwenjing
倒车时小角度下不信任与ekf差值大的矫正值
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
Commit d2a06617a57ec03e79bdb3efcc5894655e2cd01e by liuwenjing
箱体面拟合时剔除rear_dewn雷达点
The file was modifiedperception/dl_detection/lidar/impl/dld_data_provider.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_data_provider.h
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
Commit e0b4830a152ac4122a43eb5aa71d90a85aad244b by liuwenjing
rear_down雷达中z>2.6点遗留bug处理
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
Commit 7d56c3cb2094e2621e2ab9008c9dd6b5959c46d2 by tangxiao
note_out:青威更新高分阈值.
The file was modifiedperception/dl_detection/params/model
Commit 6699c8a2ad2d80071dc67eb958bed30f9d966bce by tangxiao
note_out:修复空挂修正车挂框无显示问题.
The file was modifiedperception/dl_detection/utils/dld_visualization_debug.cpp
The file was modifiedperception/dl_detection/params/model
Commit d4399bdec6e871c23a91a8fc74bceee5977eace1 by tangxiao
note_out:修复truck_trailer_change使用挡流板校正时EKF没使用其值的问题.
The file was modifiedperception/dl_detection/params/model
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
Commit 1f6a50beb49142237b3004f9d0530181ddee9eec by tangxiao
note_out:甲板上降低点云过滤高度4.4->4.2.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit cdd9144fc880899b26a14a19651687eb5508c356 by tangxiao
note_out:威海船舱内非行人类别静态不输出obj.
The file was modifiedperception/dl_detection/lidar/impl/dld_suf_impl.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
Commit d056975b12ed273b463b898a8ffa7851c31b5fe3 by tangxiao
note_out:合并weihai_jt128分支.
The file was modified.gitignore
The file was addedtools/build/build.sh
Commit 022488495ed64578c773a6ca0fb6dbc19e661321 by tangxiao
note_out:修复挂状态切换车头过滤默认值错误的bug.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit 86cb38d294e3e47edcff13cd7437b85669065cb6 by tangxiao
note_out:修复箱体面校正丢弃rear_down雷达点云的问题.
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
Commit fab2469de1ae607bbe149d5d292492b8982a69c5 by tangxiao
note_out:车头后部过滤高度降低生效条件为trailer_label>0.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit c5bacb8dfd4deea929eda51db3231af04f284f73 by tangxiao
note_out:增加威海船舱内甲板像素&&相关策略.
The file was modifiedperception/dl_detection/lidar/impl/dld_suf_impl.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/lidar/impl/dld_inference_processor.cpp
Commit e8e47e283f8b8dad5ea5ec6bacbdc3716c2bd27e by tangxiao
note_out:威海过滤船舱内的stacker.
The file was modifiedperception/dl_detection/lidar/impl/dld_suf_impl.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.h
Commit 57897519fce1489463bb34ab64716b72e8fa6681 by tangxiao
note_out: 青威车身点在原坐标系下经过过滤框.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit 98a6e9c0045d602f6b8d68882a37dea758900622 by tangxiao
note_out:去除调试打印日志.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit 89e8f1feba9fb9de0b35124d9835715da36f1f35 by tangxiao
note_out:车头无挂状态不处理车挂EKF和过滤.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
Commit 12665420c9622ecd59603dadd2f7ed6653a6603d by tangxiao
note_out:车头无挂状态不处理车挂EKF和过滤.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
Commit 1a064ce6c65104ac6ed72dd234b1c58213b304be by tangxiao
note_out:威海增加车挂信息校验&&不匹配达60帧以上时发出301044故障码.
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
The file was modifiedperception/dl_detection/services/impl/dld_sensor_msg_manager.cpp
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/common/dld_error_code_macro.h
The file was modifiedperception/dl_detection/common/dld_params_config.h
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/params/det_error_code_config.yaml
The file was modifiedperception/dl_detection/params/obstacle_detection_param.yaml
Commit 1c1dc0b91bf88d869ed0b37875c6546fa7744913 by tangxiao
note_out:不匹配达60帧以上时发出301044改为TAKEOVER级别.
The file was modifiedperception/dl_detection/params/det_error_code_config.yaml

Summary

  1. feat_out: 修改点云匹配逻辑: 由每帧NDT + ICP， 改成首帧匹配成功后仅用ICP (details)
  2. feat_out: 增加日志统计, 匹配中地图点数，雷达参与匹配点数, 匹配时间 (details)
  3. feat_out: 增加匹配时地图点: 体素下采样滤波 (details)
  4. feat_out: 增加雷达Z高度范围控制（默认上2，下3的范围） (details)
  5. feat_out: （1）增加mrpt与icp匹配时间分别统计，（2）增加匹配过程中各阶段位姿变化量 (details)
  6. feat_out: 增加保存pcd文件夹数量限制，及是否保存开关 (details)
  7. feat_out: 增加控制保存pcd文件的时长，每个文件夹最多3min (details)
  8. feat_out: 增加车辆静止时，维持3s激光定位处理数据输出定位 (details)
  9. feat_out: 临时创建测试分支-rc_dev_ship_gicp (details)
  10. feat_out: 使用高程图的高程（已取消按预测位姿）Z对ref_map做上下裁剪 (details)
  11. feat_out: 增加使用msf的z+|pitch|绝对值替代仅用msf的pitch，增加每次切高程图时触发一次剪裁局部参考地图; 增加每次切换高程图和局部pcd日志及时间点 (details)
  12. feat_out: 增加merge_raw_before_feature = false或者true开关，false: 原始点云(各雷达) -> 非主雷达转主系 -> 各雷达分别提特征(多线程) -> 特征拼接 -> 匹配定位，true : 原始点云(各雷达) -> 非主雷达转主系 -> 原始点云拼接 -> 整体提一次特征 -> 匹配定位 (details)
  13. 坡道区域: 关闭地面矫正，关闭激光点云匹配roll与pitch置0操作，直接使用msf的roll和pitch和Z (details)
  14. feat_out: 增加逻辑: （1）坡道区域是否使用GICP及yaml;（2）坡道区域激光定位输出Z，改用msf的Z替代高程图中Z; （3）坡道区域，每运行3D空间距离2米，剪裁1次参考地图 (details)
  15. feat_out: 增加(1)剪裁参考地图: 限制甲板层固定高度（一层Z高程（-2.3， 3.5），三层Z高程（ 3.5，+10.0），五层Z高程（10.0， 15.0））; 坡道，用融合msf的Z，控制上下剪裁±5。增加（2）及在坡道上剪裁的地图， 持续与高程图剪切的地图并存5s后删除 (details)
  16. feat_out: 3个激光雷达，增加数据的接收逻辑，保证每个雷达队列内数据个数，在停车时侯一致 (details)
Commit 5257e2f70e4f13bf048ed79edb39e861d84eb948 by zhangzhengqiang
feat_out: 修改点云匹配逻辑: 由每帧NDT + ICP， 改成首帧匹配成功后仅用ICP
The file was modifiedloc/lidar/reflect_match/reflect_matcher.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedloc/lidar/reflect_match/reflect_matcher.h
The file was modifiedloc/lidar/src/lidar_matcher.h
The file was modifiedloc/lidar/src/lidar_process.cpp
Commit 926b4494612bcb1c90c4455df2b03dcbe7051f49 by zhangzhengqiang
feat_out: 增加日志统计, 匹配中地图点数，雷达参与匹配点数, 匹配时间
The file was modifiedloc/lidar/src/lidar_manage.cpp
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedloc/lidar/ndt_match/ndt_process.cpp
The file was modifiedloc/lidar/ndt_match/ndt_icp_matcher.cpp
Commit 3939512b4840ea10843dbd995a5f2d725a43c144 by zhangzhengqiang
feat_out: 增加匹配时地图点: 体素下采样滤波
The file was modifiedmapping/base_map/map_ref.cpp
The file was modifiedmapping/base_map/map_ref.h
The file was modifiedmapping/base_map/base_map.cpp
Commit 580b0f254114080b3cf368c5396aa3ab142054f8 by zhangzhengqiang
feat_out: 增加雷达Z高度范围控制（默认上2，下3的范围）
The file was modifiedmapping/base_map/map_util.cpp
The file was modifiedloc/lidar/src/lidar_matcher.h
The file was modifiedmapping/base_map/map_util.h
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedloc/lidar/src/lidar_matcher.cpp
Commit ff732ec8dfd5ee1d42d1e799c5c1f265b2f81d16 by zhangzhengqiang
feat_out: （1）增加mrpt与icp匹配时间分别统计，（2）增加匹配过程中各阶段位姿变化量
The file was removedloc/param/reflect_match/taicang/mrpt_icp.yaml
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.h
The file was removedloc/param/reflect_match/tangshan/mask.yaml
The file was modifiedmapping/reflect_map/reflect_map_reader.cpp
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedmapping/reflect_map/reflect_map.cpp
The file was removedloc/param/reflect_match/tangshan/feature.yaml
The file was modifiedmapping/reflect_map/reflect_map_reader.h
The file was removedloc/param/reflect_match/taicang/feature.yaml
The file was removedloc/param/reflect_match/tangshan/mrpt_icp.yaml
The file was removedloc/param/reflect_match/taicang/mask.yaml
The file was modifiedloc/lidar/ndt_match/ndt_icp_matcher.cpp
The file was modifiedloc/lidar/ndt_match/ndt_process.cpp
The file was removedloc/param/reflect_match/taicang/region.yaml
The file was removedloc/param/reflect_match/taicang/region_maintainer.yaml
The file was removedloc/param/reflect_match/tangshan/region_maintainer.yaml
The file was modifiedloc/launch/lidar_loc_v2_node.rviz
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was removedloc/param/reflect_match/tangshan/region.yaml
Commit e5a6a137bcbc3285a5dda02ea77ca7b69caa7b52 by zhangzhengqiang
feat_out: 增加保存pcd文件夹数量限制，及是否保存开关
The file was modifiedloc/lidar/ndt_match/ndt_icp_matcher.h
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was modifiedloc/lidar/src/lidar_process.h
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedloc/app/lidar_loc_v2_node.cpp
The file was modifiedloc/lidar/src/lidar_matcher.h
The file was modifiedloc/lidar/ndt_match/ndt_icp_matcher.cpp
The file was modifiedloc/launch/lidar_loc_v2_node.rviz
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedloc/lidar/src/lidar_matcher.cpp
Commit 73e194e311d1c81787e84ea858819502af83cb87 by zhangzhengqiang
feat_out: 增加控制保存pcd文件的时长，每个文件夹最多3min
The file was modifiedcommon/util/global.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedcommon/util/global.h
The file was modifiedloc/lidar/ndt_match/ndt_icp_matcher.cpp
The file was modifiedloc/app/lidar_loc_v2_node.cpp
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedloc/param/reflect_match/xiamen/mrpt_icp.yaml
Commit 2e8effc1c2f25e3839cf8c36e8fcfd76d1fe2e95 by zhangzhengqiang
feat_out: 增加车辆静止时，维持3s激光定位处理数据输出定位
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedloc/launch/lidar_loc_v2_node.rviz
The file was modifiedloc/app/lidar_loc_v2_node_impl.cpp
The file was modifiedloc/app/lidar_loc_v2_node_impl.h
Commit 3080b9800722824ef24e72bc428aeb129297999b by zhangzhengqiang
feat_out: 临时创建测试分支-rc_dev_ship_gicp
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.h
The file was removedloc/param/reflect_match/daxie/feature.yaml
The file was removedloc/param/reflect_match/daxie/region.yaml
The file was modifiedloc/app/lidar_loc_v2_node_impl.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was removedloc/param/reflect_match/daxie/mask.yaml
The file was modifiedcommon/util/global.cpp
The file was modifiedloc/param/reflect_match/xiamen/mrpt_icp.yaml
The file was removedloc/param/reflect_match/daxie/mrpt_icp.yaml
The file was modifiedcommon/util/global.h
The file was removedloc/param/reflect_match/daxie/region_maintainer.yaml
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
Commit c0792bf269fa9911016ac822debbd3f4d2a590d1 by zhangzhengqiang
feat_out: 使用高程图的高程（已取消按预测位姿）Z对ref_map做上下裁剪
The file was modifiedloc/lidar/src/lidar_matcher.cpp
The file was modifiedloc/lidar/src/lidar_matcher.h
The file was modifiedloc/app/lidar_loc_v2_node.cpp
The file was modifiedloc/lidar/reflect_match/reflect_matcher.h
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.h
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedloc/lidar/reflect_match/reflect_matcher.cpp
Commit e36ec7e2cba0e3f10f0dd7fe1caeff51a2ca0263 by zhangzhengqiang
feat_out: 增加使用msf的z+|pitch|绝对值替代仅用msf的pitch，增加每次切高程图时触发一次剪裁局部参考地图; 增加每次切换高程图和局部pcd日志及时间点
The file was modifiedmapping/dynamic_map/dynamic_map_reader.cpp
The file was modifiedloc/lidar/src/lidar_manage.h
The file was modifiedloc/lidar/reflect_match/reflect_matcher.cpp
The file was modifiedmapping/external_map/external_map_reader.cpp
The file was modifiedmapping/base_map/map_ref.h
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was modifiedloc/lidar/reflect_match/feature/feature_extractor.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedloc/lidar/reflect_match/feature/ground_extractor.cpp
The file was modifiedloc/lidar/reflect_match/reflect_matcher.h
The file was modifiedloc/lidar/reflect_match/feature/ground_extractor.h
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.h
The file was modifiedmapping/base_map/map_ref.cpp
The file was modifiedmapping/reflect_map/reflect_map_reader.cpp
The file was modifiedloc/lidar/src/lidar_manage.cpp
Commit 58aece5aed963b0bd94c63b18fc8fe48ed718ce2 by zhangzhengqiang
feat_out: 增加merge_raw_before_feature = false或者true开关，false: 原始点云(各雷达) -> 非主雷达转主系 -> 各雷达分别提特征(多线程) -> 特征拼接 -> 匹配定位，true : 原始点云(各雷达) -> 非主雷达转主系 -> 原始点云拼接 -> 整体提一次特征 -> 匹配定位
The file was modifiedloc/lidar/src/lidar_manage.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
Commit d4bdf84e40baf85733d5b2862b1418733caa7354 by zhangzhengqiang
坡道区域: 关闭地面矫正，关闭激光点云匹配roll与pitch置0操作，直接使用msf的roll和pitch和Z
The file was modifiedcommon/util/global.cpp
The file was modifiedloc/lidar/reflect_match/feature/feature_extractor.cpp
The file was addedcommon/util/ramp_zones.cpp
The file was modifiedloc/lidar/src/lidar_manage.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedloc/lidar/reflect_match/feature/feature_extractor.h
The file was modifiedcommon/CMakeLists.txt
The file was modifiedloc/app/lidar_loc_v2_node_impl.cpp
The file was modifiedloc/lidar/reflect_match/feature/ground_extractor.cpp
The file was addedcommon/util/ramp_zones.h
The file was modifiedloc/lidar/reflect_match/feature/ground_extractor.h
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedcommon/util/global.h
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
Commit 715bdbb62c9d6d40ca58c0c7357dc16bd5432daa by zhangzhengqiang
feat_out: 增加逻辑: （1）坡道区域是否使用GICP及yaml;（2）坡道区域激光定位输出Z，改用msf的Z替代高程图中Z; （3）坡道区域，每运行3D空间距离2米，剪裁1次参考地图
The file was modifiedloc/lidar/src/lidar_manage.cpp
The file was addedcommon/util/registration_method.h
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was modifiedcommon/util/global.cpp
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.h
The file was modifiedloc/lidar/ndt_match/icp_matcher.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedloc/lidar/ndt_match/icp_matcher.h
The file was modifiedloc/lidar/semantic_match/semantic_lidar_matcher.h
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedcommon/util/global.h
The file was modifiedcommon/util/ramp_zones.h
The file was modifiedloc/lidar/semantic_match/semantic_lidar_matcher.cpp
The file was modifiedcommon/util/ramp_zones.cpp
The file was modifiedmapping/base_map/map_ref.cpp
The file was modifiedloc/lidar/ndt_match/ndt_icp_matcher.cpp
The file was modifiedloc/lidar/ndt_match/ndt_icp_matcher.h
The file was modifiedloc/lidar/reflect_match/reflect_matcher.cpp
Commit 4ea8d7f3465305a25e54cba3c03ed72be18d66b1 by zhangzhengqiang
feat_out: 增加(1)剪裁参考地图: 限制甲板层固定高度（一层Z高程（-2.3， 3.5），三层Z高程（ 3.5，+10.0），五层Z高程（10.0， 15.0））; 坡道，用融合msf的Z，控制上下剪裁±5。增加（2）及在坡道上剪裁的地图， 持续与高程图剪切的地图并存5s后删除
The file was modifiedcommon/util/ramp_zones.h
The file was modifiedcommon/util/global.h
The file was modifiedcommon/util/ramp_zones.cpp
The file was modifiedloc/lidar/reflect_match/reflect_matcher.h
The file was modifiedmapping/semantic_map/semantic_map_ref.h
The file was modifiedloc/lidar/src/lidar_matcher.h
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedmapping/base_map/map_ref.cpp
The file was modifiedmapping/intensity_map/intensity_map_ref.h
The file was modifiedmapping/base_map/map_util.cpp
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.h
The file was modifiedloc/lidar/src/lidar_matcher.cpp
The file was modifiedmapping/base_map/map_ref.h
The file was modifiedmapping/semantic_map/semantic_map_ref.cpp
The file was modifiedcommon/util/global.cpp
The file was modifiedloc/lidar/reflect_match/reflect_matcher.cpp
The file was modifiedloc/lidar/src/lidar_manage.cpp
The file was modifiedmapping/intensity_map/intensity_map_ref.cpp
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was modifiedmapping/base_map/map_util.h
Commit e27789d63a7b776cccb2611c1c29cc9ac3b68338 by zhangzhengqiang
feat_out: 3个激光雷达，增加数据的接收逻辑，保证每个雷达队列内数据个数，在停车时侯一致
The file was modifiedloc/lidar/src/lidar_manage.h
The file was modifiedcommon/util/global.h
The file was modifiedcommon/util/global.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedloc/app/lidar_loc_v2_node_impl.cpp
The file was modifiedloc/lidar/src/lidar_manage.cpp