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#430430false4301215297FAILURE1784263179633http://159.27.114.184:8080/jenkins/job/orin-slave32/430/- perception/dl_detection/lib/pointpillarsperception/dl_detection/lib/CMakeLists.txtperception/dl_detection/lib/centerpointconf/perception_imv.rvizb25dfba226d9aa3dd14981214a21ef62f868c3931782128382000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autofeat(trt10): 引入 BUILD_TRT10 编译开关, 适配 x86 Blackwell + TRT10 环境
CMakeLists 增加 option(BUILD_TRT10), 默认 OFF:
- OFF (默认): GPU 架构 = 原 SMS 列表 (30 32 35 37 50 52 53 60 61 62 70 72 75 87),
行为与改动前完全一致, Orin/Xavier/老 x86 部署不受影响.
- ON : GPU 架构 = sm_120 (RTX 50xx Blackwell), 同名宏 BUILD_TRT10 自动注入
C/C++ 和 NVCC, 子模块通过 add_subdirectory 继承.
源码侧走 TRT10 新 API (delete / setMemoryPoolLimit / enqueueV3 +
setTensorAddress / setInputShape 等), 见 centerpoint/pointpillars
submodule 同名 commit.
子模块指针更新:
- centerpoint -> 068e2dd (cp_lib)
- pointpillars -> af67324 (dev)
同时纳入本机 RViz 视图配置: conf/perception_imv.rviz.
使用:
catkin build # 老环境, 行为不变
catkin build --cmake-args -DBUILD_TRT10=ON # 本机 Blackwell+TRT10
Co-authored-by: Cursor <cursoragent@cursor.com>
2026-06-22 19:39:42 +0800b25dfba226d9aa3dd14981214a21ef62f868c393feat(trt10): 引入 BUILD_TRT10 编译开关, 适配 x86 Blackwell + TRT10 环境editconf/perception_imv.rvizeditperception/dl_detection/lib/pointpillarseditperception/dl_detection/lib/centerpointeditperception/dl_detection/lib/CMakeLists.txt
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/doc/container_face_angle.mdperception/dl_detection/lidar/impl/dld_trailer_calculator.cppperception/dl_detection/CMakeLists.txtperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calculator.hperception/common/common_types.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hconf/perception_imv.rvizf210ae0f2babe793a0b5b20443ead46c420e65ce1782315622000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂角度校正添加箱体面估计新算法.
2026-06-24 23:40:22 +0800f210ae0f2babe793a0b5b20443ead46c420e65cenote_out:车挂角度校正添加箱体面估计新算法.editperception/common/common_types.heditconf/perception_imv.rvizaddperception/dl_detection/lidar/doc/container_face_angle.mdeditperception/dl_detection/common/dld_params_config.hdeleteperception/dl_detection/lidar/impl/dld_trailer_calculator.cppeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppdeleteperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calculator.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/CMakeLists.txt
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/doc/container_face_angle.md150f7c3a6d00ecc7a545118c4ac52c35b533a9ca1782356639000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂角度校正箱体面算法修改.
2026-06-25 11:03:59 +0800150f7c3a6d00ecc7a545118c4ac52c35b533a9canote_out:车挂角度校正箱体面算法修改.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/doc/container_face_angle.md
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/common/common_types.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/doc/container_face_angle.md6ef466422ea31daa3b2862d33dd856a726de0ebb1782361251000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂角度校正日志和显示修改.
2026-06-25 12:20:51 +08006ef466422ea31daa3b2862d33dd856a726de0ebbnote_out:车挂角度校正日志和显示修改.editperception/common/common_types.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/doc/container_face_angle.mdeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.gitignoreperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/doc/container_face_angle.mdperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/common/common_types.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h61a9c18a18f3bd0e3d1a69cff0b382e7c8d5174d1782378756000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:前箱面由小格选单点变为选一定范围内的点.
2026-06-25 17:12:36 +080061a9c18a18f3bd0e3d1a69cff0b382e7c8d5174dnote_out:前箱面由小格选单点变为选一定范围内的点.editperception/dl_detection/lidar/doc/container_face_angle.mdeditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppedit.gitignoreeditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppb504a616b6ebc079e6c56ece1054295f0a3670c51782382890000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度.
2026-06-25 18:21:30 +0800b504a616b6ebc079e6c56ece1054295f0a3670c5note_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.bak_expandfix3a8d5bad7582b4baed5156f411632cd8b15cfb311782395069000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度,适配小角度计算方法.
2026-06-25 21:44:29 +08003a8d5bad7582b4baed5156f411632cd8b15cfb31note_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度,适配小角度计算方法.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppaddperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.bak_expandfix
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.bak_expandfixbbcc5cad36d670e5bfa584dbbdf07c9e752e08da1782395243000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度,适配小角度计算方法.
2026-06-25 21:47:23 +0800bbcc5cad36d670e5bfa584dbbdf07c9e752e08danote_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度,适配小角度计算方法.deleteperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.bak_expandfix
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/impl/dld_trailer_calibrator_by_container.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator_by_container.h.gitignoreperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h3b43ea991805034088274a4115cd3d495aa62ec51782439620000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:恢复误删除的车挂显示相关topic&&拆分dld_trailer_calibrator.cpp中两个类到两个单独的文件.
2026-06-26 10:07:00 +08003b43ea991805034088274a4115cd3d495aa62ec5note_out:恢复误删除的车挂显示相关topic&&拆分dld_trailer_calibrator.cpp中两个类到两个单独的文件.edit.gitignoreeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppaddperception/dl_detection/lidar/impl/dld_trailer_calibrator_by_container.cppaddperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator_by_container.h
- perception/dl_detection/lidar/impl/dld_trailer_calibrator_by_container.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator_by_container.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp171fd1314f696f7b19850c94412ff0177dc969ae1782441898000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改enable_expand_filter_用法.
2026-06-26 10:44:58 +0800171fd1314f696f7b19850c94412ff0177dc969aenote_out:修改enable_expand_filter_用法.editperception/dl_detection/lidar/impl/dld_trailer_calibrator_by_container.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator_by_container.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp8c34332940e93a15b5aa2e5d3d91cd5040101e881782443196000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:增加各来源角度框的可视化.
2026-06-26 11:06:36 +08008c34332940e93a15b5aa2e5d3d91cd5040101e88note_out:增加各来源角度框的可视化.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppc4cb84808b70fd39a6effb1c1326f20e2fdd23231782458658000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:无参考角度初始角度估计优化.
2026-06-26 15:24:18 +0800c4cb84808b70fd39a6effb1c1326f20e2fdd2323note_out:无参考角度初始角度估计优化.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h7dfab4a0c240b9c01bed2b93863184fb6a2addd21782550243000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:无参考角度时车挂角度搜索第二套方法.
2026-06-27 16:50:43 +08007dfab4a0c240b9c01bed2b93863184fb6a2addd2note_out:无参考角度时车挂角度搜索第二套方法.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppde16eb585abbefe5f682971819e8631c18900b261782886502000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:第二套无参考初始挂角查找优化.
2026-07-01 14:15:02 +0800de16eb585abbefe5f682971819e8631c18900b26note_out:第二套无参考初始挂角查找优化.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppa49bdbec5501c6d3d8dc3a1bb7aea121113757841782888549000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autotrailer front-edge: fix large-angle misclassify + logging + micro-opt
- classify: replace |dx|vs|dy| small-angle heuristic with two-hypothesis
(along/normal) picked by |y_tr| closeness to half-width; kills spurious
+90deg at large trailer angles
- add z-band gate to reject cargo-box side face (out of baffle height band)
- selection by |y_tr|-to-half-width instead of longest extent
- angle-compare log: initial_baffle / initial_front_edge / revised / ekf / detect
- micro-opt: consider() takes precomputed fit (drop duplicate LS on single
segment path); reserve cell vectors; std::move cell idx
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-01 14:49:09 +0800a49bdbec5501c6d3d8dc3a1bb7aea12111375784trailer front-edge: fix large-angle misclassify + logging + micro-opteditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppc148e48894e3defac8dd0ba213ae854c37f88d3a1782888781000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autotrailer front-edge batch1: box-face channel + z-classification + fusion
Treat box/body front face (tall grid cells above baffle height band) as a
second, parallel estimator of the same trailer angle instead of discarding it:
- consider_box(): route runs whose z-top exceeds the baffle band to a
box-face candidate; long straight wall -> dominant-axis classify
(normal at small angle, along at large), keep the longest wall
- fusion: prefer baffle (on-target height); fall back to box-face angle only
when baffle route finds nothing (e.g. loaded trailer, baffle occluded) ->
recovers cases that previously abstained (a7)
- logging: per-candidate cand-box line; fuse line with th_baffle/th_box/src/out;
RESULT now tags src=baffle|boxface
- viz/out use fused final_a/final_b/final_side
NOTE: not compile-verified in this environment (needs project Docker build).
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-01 14:53:01 +0800c148e48894e3defac8dd0ba213ae854c37f88d3atrailer front-edge batch1: box-face channel + z-classification + fusioneditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp993fd25cb44fe78e6177d342d84ff7bc776268541782889047000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autotrailer front-edge batch2: raw-point fit + dual-side pooling + y-geo + confidence
- fit_raw(): LS over raw points of the chosen segment (not the 4 grid
centroids) to suppress the per-column max-x quantization bias that drove
the ~-7deg systematic error at small angle (a4/a6)
- dual-side pooling: gather baffle-height cells L/R, sum per-side de-meaned
covariances -> shared face direction (does NOT connect the two centroids,
so it is immune to the cross-side motion-compensation x offset); used to
refine short baffle segments
- y-position geometric fallback: cosθ=(cyL-cyR)/(2w) from known half-width,
y-only (avoids polluted x); logged (sensitive at large angle only)
- confidence scalar per source; logged in fuse/RESULT
- new logs: batch2 pool (nL/nR/th_pool/th_geo_mag), batch2 refine
(th_centroid/th_raw/th_pool/use_pool)
Behavior change (intended): baffle final angle now comes from raw-point fit,
or dual-side pool for short segments.
NOTE: not compile-verified in this environment (needs project Docker build).
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-01 14:57:27 +0800993fd25cb44fe78e6177d342d84ff7bc77626854trailer front-edge batch2: raw-point fit + dual-side pooling + y-geo + confidenceeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hc28e223f7ecd9b75b8e841f5e109a5f1aaf0d1971782996932000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:无初始角度适配小角度.
2026-07-02 20:55:32 +0800c28e223f7ecd9b75b8e841f5e109a5f1aaf0d197note_out:无初始角度适配小角度.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppf44deee08ac66081f464f97c6e139193fc47c6481783040861000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:删除第一种求初始角度方法.
2026-07-03 09:07:41 +0800f44deee08ac66081f464f97c6e139193fc47c648note_out:删除第一种求初始角度方法.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp3ed18e667347bdd2aefeb08bf8461e50a24cc8311783082842000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:初始角度查找.
2026-07-03 20:47:22 +08003ed18e667347bdd2aefeb08bf8461e50a24cc831note_out:初始角度查找.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hc74d30ba8feb5b26d57fd0adda237206612317ed1783344172000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改暂存.
2026-07-06 21:22:52 +0800c74d30ba8feb5b26d57fd0adda237206612317ednote_out:修改暂存.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp0c452d76483bcf93c0339ecced5e0d351524f7881783414502000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto龙须点里不满足细线的点抛弃
2026-07-07 16:55:02 +08000c452d76483bcf93c0339ecced5e0d351524f788龙须点里不满足细线的点抛弃editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/include/dld_data_provider.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/common/common_types.hd8566320b9abb4a995430bf4e02f08b995d7ba101783415701000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台增加立体车库防护功能:高墙面拟合输出110点.
2026-07-07 17:15:01 +0800d8566320b9abb4a995430bf4e02f08b995d7ba10note_out:烟台增加立体车库防护功能:高墙面拟合输出110点.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_data_provider.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppd609bd5e22e2e69626c9d776f35855c489ac87d21783420946000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto龙须点线粗细约束&&x向和z向的离群值剔除
2026-07-07 18:42:26 +0800d609bd5e22e2e69626c9d776f35855c489ac87d2龙须点线粗细约束&&x向和z向的离群值剔除editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppce780e4d857cf961bc78fe5ecfeffb238223de071783424576000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:大榭像素42区域低矮障碍物点加入102点.
2026-07-07 19:42:56 +0800ce780e4d857cf961bc78fe5ecfeffb238223de07note_out:大榭像素42区域低矮障碍物点加入102点.editperception/common/common_types.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp0e7fe849120badb96e60970b8b1b4162b4767aab1783488783000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:无初始角度时估计车挂初始角度v3最终版.
2026-07-08 13:33:03 +08000e7fe849120badb96e60970b8b1b4162b4767aabnote_out:无初始角度时估计车挂初始角度v3最终版.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp6fc6595914a0479803f2fbf646d74ca92c984af91783491643000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:调节箱面角度的置信度.
2026-07-08 14:20:43 +08006fc6595914a0479803f2fbf646d74ca92c984af9note_out:调节箱面角度的置信度.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp98da2b6285f63d72593fdeac0b8e758bdce4056a1783495258000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:双侧挡流板面拟合角度值相互校验条件放松.
2026-07-08 15:20:58 +080098da2b6285f63d72593fdeac0b8e758bdce4056anote_out:双侧挡流板面拟合角度值相互校验条件放松.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp1647ebe4c60ed3f92a5fca9e760cdc48d428556b1783496936000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂日志打印条件修改.
2026-07-08 15:48:56 +08001647ebe4c60ed3f92a5fca9e760cdc48d428556bnote_out:车挂日志打印条件修改.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp8d6c69e459f8be7329557db7f2786d048b8312ad1783497617000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:恢复仅无初始车挂角时才调用周围搜索.
2026-07-08 16:00:17 +08008d6c69e459f8be7329557db7f2786d048b8312adnote_out:恢复仅无初始车挂角时才调用周围搜索.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- "dld_trailer_calibrator\344\274\230\345\214\226\346\270\205\345\215\225.md"perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/common/common_types.h4169003e83b1b19b7ebf35aafb974d69e8f8dc141783510267000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.
2026-07-08 19:31:07 +08004169003e83b1b19b7ebf35aafb974d69e8f8dc14note_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.add"dld_trailer_calibrator\344\274\230\345\214\226\346\270\205\345\215\225.md"editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/common/common_types.h
- "dld_trailer_calibrator\344\274\230\345\214\226\346\270\205\345\215\225.md"340b7bd70a1a86ce12b2826e2919ee1c539b91371783510309000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.
2026-07-08 19:31:49 +0800340b7bd70a1a86ce12b2826e2919ee1c539b9137note_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.delete"dld_trailer_calibrator\344\274\230\345\214\226\346\270\205\345\215\225.md"
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppc48305a611e75cbc9482eb185b4baa9efafd31b11783522404000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:参数修改.
2026-07-08 22:53:24 +0800c48305a611e75cbc9482eb185b4baa9efafd31b1note_out:参数修改.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp7957ecd966565c5c0e479d2ee67778b96c8b36ab1783526367000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@denior.autonote_out:增加箱体面计算挂角的注释.
2026-07-08 23:59:27 +08007957ecd966565c5c0e479d2ee67778b96c8b36abnote_out:增加箱体面计算挂角的注释.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/common/common_types.h74603f14be3460fb818962e981ccc1e826f456611783571545000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:拟合改为pca,增加箱体面角度y向箱宽校验.
2026-07-09 12:32:25 +080074603f14be3460fb818962e981ccc1e826f45661note_out:拟合改为pca,增加箱体面角度y向箱宽校验.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/common/common_types.h
- doc/trailer_angle_log_analysis_a1a9_20260709.mdperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp2cb3e42ded2425b88a3c6706edc0d550c321e3181783578330000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:pca去噪点改为单次.
2026-07-09 14:25:30 +08002cb3e42ded2425b88a3c6706edc0d550c321e318note_out:pca去噪点改为单次.adddoc/trailer_angle_log_analysis_a1a9_20260709.mdeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hdoc/trailer_angle_log_analysis_a1a9_20260709.md7b9576dd4be88ea2f09ffaaa4443e81fc3e96bed1783580169000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:调试日志,topic清理和隐藏.
2026-07-09 14:56:09 +08007b9576dd4be88ea2f09ffaaa4443e81fc3e96bednote_out:调试日志,topic清理和隐藏.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hdeletedoc/trailer_angle_log_analysis_a1a9_20260709.md
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/common/common_types.he115495f9fb7c7011e95e0f9b7ef262ab5fd43581783590982000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:箱面半宽调整.
2026-07-09 17:56:22 +0800e115495f9fb7c7011e95e0f9b7ef262ab5fd4358note_out:箱面半宽调整.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/common/common_types.heditperception/dl_detection/common/dld_params_config.h
- perception/ground_segmentation/common/data_injector.cppperception/ground_segmentation/services/seg_obstacle_step.hperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppperception/ground_segmentation/components/seg_obstacle.cppperception/ground_segmentation/components/seg_ground.cppperception/ground_segmentation/services/seg_ground_alg_plus.hperception/ground_segmentation/common/basic_types.hperception/ground_segmentation/common/grd_utils.cppperception/ground_segmentation/services/impl/seg_obstacle_step.cppperception/ground_segmentation/services/impl/seg_ground_step.cppperception/ground_segmentation/common/data_injector.hperception/ground_segmentation/services/seg_ground_step.h1f1de8a5a04bdfabea348e7a05d980db2407614b1783677573000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:坑洼检测地面分割后处理: 突变点检测,地面地下点粗标签标记.
2026-07-10 17:59:33 +08001f1de8a5a04bdfabea348e7a05d980db2407614bnote_out:坑洼检测地面分割后处理: 突变点检测,地面地下点粗标签标记.editperception/ground_segmentation/services/seg_ground_step.heditperception/ground_segmentation/components/seg_obstacle.cppeditperception/ground_segmentation/common/grd_utils.cppeditperception/ground_segmentation/services/seg_ground_alg_plus.heditperception/ground_segmentation/common/data_injector.heditperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppeditperception/ground_segmentation/services/impl/seg_obstacle_step.cppeditperception/ground_segmentation/common/data_injector.cppeditperception/ground_segmentation/components/seg_ground.cppeditperception/ground_segmentation/common/basic_types.heditperception/ground_segmentation/services/impl/seg_ground_step.cppeditperception/ground_segmentation/services/seg_obstacle_step.h
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.haf602919b9646bbc97589bb35f7c4ce275a009d91783682548000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto围栏点也经龙须点筛选标记
2026-07-10 19:22:28 +0800af602919b9646bbc97589bb35f7c4ce275a009d9围栏点也经龙须点筛选标记editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
- perception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/common/common_types.h873ef82b3becd4d285d92c297366b0649a51bda11783685437000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto参数控制是否使用“收紧龙须点”的规则，洋浦不收紧
2026-07-10 20:10:37 +0800873ef82b3becd4d285d92c297366b0649a51bda1参数控制是否使用“收紧龙须点”的规则，洋浦不收紧editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/common/common_types.h
- perception/ground_segmentation/services/impl/seg_ground_alg_plus.cppperception/ground_segmentation/services/seg_ground_alg_plus.h97ac2b432c9dbb1c02cd7aebb0f40e1da7fc9ffe1783687258000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 优化地面分割后处理:聚类和分类逻辑优化.
2026-07-10 20:40:58 +080097ac2b432c9dbb1c02cd7aebb0f40e1da7fc9ffenote_out: 优化地面分割后处理:聚类和分类逻辑优化.editperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppeditperception/ground_segmentation/services/seg_ground_alg_plus.h
- perception/ground_segmentation/services/impl/seg_ground_alg_plus.cppperception/ground_segmentation/services/seg_ground_alg_plus.ha28e10bfe9f323541a2bb8c7c39e0441a93bba1c1783913000000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: seg坑沿点辨识优化.
2026-07-13 11:23:20 +0800a28e10bfe9f323541a2bb8c7c39e0441a93bba1cnote_out: seg坑沿点辨识优化.editperception/ground_segmentation/services/seg_ground_alg_plus.heditperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
- perception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp774420d69d71283d6e861d64421d0b1e8245e5701783914438000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:seg判坑簇修改条件.
2026-07-13 11:47:18 +0800774420d69d71283d6e861d64421d0b1e8245e570note_out:seg判坑簇修改条件.editperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
git- loc/lidar/src/lidar_process.hloc/param/reflect_match/taicang/region.yamlloc/param/reflect_match/taicang/feature.yamlloc/app/lidar_loc_v2_node_impl.cpploc/param/reflect_match/weiqiao/region_maintainer.yamlloc/param/reflect_match/weiqiao/region.yamlloc/scripts/__pycache__/calibrate_imu_lidar_extrinsic_from_result.cpython-38.pycloc/param/lidar_loc_v2_node.vehicle_xiamen.yamlloc/param/reflect_match/weiqiao/mask.yamlloc/param/reflect_match/taiyang/region_maintainer.yamlloc/param/reflect_match/tangshan/region.yamlloc/param/reflect_match/taiyang/feature.yamlloc/param/lidar_loc_v2_node.vehicle_zhenshi.yamlcommon/util/ship_entrance_ground_anchor.hloc/param/reflect_match/tangshan/mask.yamlloc/fusion/msf_wrapper.cpploc/param/reflect_match/zhenshi/feature.yamlloc/param/lidar_loc_v2_node.vehicle.yamlloc/param/reflect_match/taiyang/mrpt_icp.yamlloc/param/reflect_match/taiyang/mask.yamlloc/param/reflect_match/xiamen/mrpt_icp.yamlloc/param/reflect_match/xiamen/region.yamlcommon/util/elevation_z_fuse.hcommon/util/ship_entrance_ground_anchor.cpploc/param/reflect_match/zhenshi/mask.yamlloc/param/reflect_match/xiamen/feature.yamlcommon/util/elevation_z_fuse.cpploc/lidar/src/lidar_manage.cpploc/param/lidar_loc_v2_node.vehicle_xilian.yamlloc/lidar/reflect_match/reflect_lidar_process.hloc/param/lidar_loc_v2_node.vehicle_weihai.yamlloc/lidar/reflect_match/reflect_lidar_process.cpploc/app/lidar_loc_v2_node_impl.hloc/param/reflect_match/taicang/mrpt_icp.yamlloc/param/lidar_loc_v2_node.vehicle_taiyang.yamlloc/lidar/reflect_match/deck_elevation_manager.hloc/param/reflect_match/tangshan/mrpt_icp.yamlloc/param/reflect_match/zhenshi/mrpt_icp.yamlloc/param/reflect_match/xiamen/mask.yamlloc/param/reflect_match/zhenshi/region_maintainer.yamlloc/lidar/reflect_match/registration/mrpt_icp.cpploc/param/reflect_match/taicang/mask.yamlloc/lidar/reflect_match/feature/feature_extractor.cpploc/lidar/reflect_match/registration/mrpt_icp.hloc/param/reflect_match/weiqiao/feature.yamlloc/param/reflect_match/taiyang/region.yamlloc/param/reflect_match/xiamen/region_maintainer.yamlloc/param/reflect_match/tangshan/region_maintainer.yamlloc/param/reflect_match/weiqiao/mrpt_icp.yamlloc/lidar/reflect_match/deck_elevation_manager.cpploc/param/reflect_match/taicang/region_maintainer.yamlloc/lidar/reflect_match/reflect_matcher.cpploc/param/reflect_match/zhenshi/region.yamlloc/param/reflect_match/tangshan/feature.yaml30673bdc2e67648c6d146a03b8e3ddc0b6fe12b81784195576000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 增加配置全局锚定第一帧地面矫正系数，高层图平滑加载
2026-07-16 17:52:56 +080030673bdc2e67648c6d146a03b8e3ddc0b6fe12b8:new: 增加配置全局锚定第一帧地面矫正系数，高层图平滑加载addloc/param/reflect_match/zhenshi/region_maintainer.yamleditcommon/util/ship_entrance_ground_anchor.cppdeleteloc/param/reflect_match/tangshan/region.yamleditloc/lidar/reflect_match/reflect_lidar_process.haddloc/param/reflect_match/taiyang/mrpt_icp.yamleditloc/lidar/src/lidar_process.haddloc/param/reflect_match/weiqiao/mrpt_icp.yamleditloc/fusion/msf_wrapper.cppeditloc/param/lidar_loc_v2_node.vehicle_weihai.yamladdloc/param/reflect_match/zhenshi/feature.yamladdloc/param/lidar_loc_v2_node.vehicle_xiamen.yamleditcommon/util/elevation_z_fuse.heditcommon/util/ship_entrance_ground_anchor.haddloc/param/reflect_match/weiqiao/feature.yamladdloc/param/reflect_match/zhenshi/mask.yamleditloc/param/reflect_match/xiamen/mrpt_icp.yamleditloc/app/lidar_loc_v2_node_impl.heditloc/lidar/reflect_match/deck_elevation_manager.haddloc/param/lidar_loc_v2_node.vehicle_zhenshi.yamladdloc/param/reflect_match/weiqiao/mask.yamldeleteloc/param/reflect_match/tangshan/mrpt_icp.yamleditloc/lidar/reflect_match/reflect_matcher.cppeditloc/app/lidar_loc_v2_node_impl.cppeditloc/param/reflect_match/xiamen/region_maintainer.yamleditloc/param/reflect_match/xiamen/region.yamladdloc/param/reflect_match/taiyang/feature.yamldeleteloc/param/reflect_match/taicang/mask.yamldeleteloc/param/reflect_match/tangshan/feature.yamleditloc/param/lidar_loc_v2_node.vehicle.yamleditcommon/util/elevation_z_fuse.cppaddloc/param/lidar_loc_v2_node.vehicle_xilian.yamladdloc/param/reflect_match/zhenshi/mrpt_icp.yamleditloc/lidar/reflect_match/reflect_lidar_process.cppaddloc/param/reflect_match/zhenshi/region.yamladdloc/scripts/__pycache__/calibrate_imu_lidar_extrinsic_from_result.cpython-38.pycdeleteloc/param/reflect_match/taicang/feature.yamleditloc/lidar/reflect_match/feature/feature_extractor.cppaddloc/param/reflect_match/taiyang/mask.yamldeleteloc/param/reflect_match/taicang/mrpt_icp.yamladdloc/param/lidar_loc_v2_node.vehicle_taiyang.yamleditloc/lidar/reflect_match/registration/mrpt_icp.cppaddloc/param/reflect_match/weiqiao/region_maintainer.yamleditloc/lidar/reflect_match/deck_elevation_manager.cppdeleteloc/param/reflect_match/tangshan/region_maintainer.yamladdloc/param/reflect_match/taiyang/region.yamleditloc/param/reflect_match/xiamen/feature.yamldeleteloc/param/reflect_match/taicang/region_maintainer.yamldeleteloc/param/reflect_match/tangshan/mask.yamldeleteloc/param/reflect_match/taicang/region.yamladdloc/param/reflect_match/taiyang/region_maintainer.yamleditloc/lidar/src/lidar_manage.cppeditloc/lidar/reflect_match/registration/mrpt_icp.haddloc/param/reflect_match/weiqiao/region.yamleditloc/param/reflect_match/xiamen/mask.yaml
githttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/tangxiaotangxiaohttp://159.27.114.184:8080/jenkins/user/liuyangliuyang431http://159.27.114.184:8080/jenkins/job/orin-slave32/431/