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#443443false4431240646SUCCESS1786376541813http://159.27.114.184:8080/jenkins/job/orin-slave32/443/- perception/dl_detection/params/model2cb32f7d64484ef65ce2317fc4a167b2cd26507e1785146174000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:前港cp更新135k模型,更新submodule model指针[新增sweeper/sprinkler/car类别].
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-27 17:56:14 +08002cb32f7d64484ef65ce2317fc4a167b2cd26507enote_out:前港cp更新135k模型,更新submodule model指针[新增sweeper/sprinkler/car类别].editperception/dl_detection/params/model
- perception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.hperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppperception/dl_detection/common/dld_params_config.hperception/common/constant.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_filter_sets.hperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppperception/dl_detection/lib/obstacle_tracking/tracking_common.cppperception/common/common_types.h42b2c5c0e7492b2a98e8f7e37250f0132edf9b0b1785154628000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:前港新模型更新,洒水车和清扫车新类别适配.
2026-07-27 20:17:08 +080042b2c5c0e7492b2a98e8f7e37250f0132edf9b0bnote_out:前港新模型更新,洒水车和清扫车新类别适配.editperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppeditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_filter_sets.heditperception/common/constant.heditperception/common/common_types.heditperception/dl_detection/lib/obstacle_tracking/tracking_common.cppeditperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppeditperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.h
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppc3f6835f162e6984b713e125e569ef0bea0d79251785222727000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 铁路堆场出口像素53添加过滤和稳定逻辑.
2026-07-28 15:12:07 +0800c3f6835f162e6984b713e125e569ef0bea0d7925note_out: 铁路堆场出口像素53添加过滤和稳定逻辑.editperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/common/common_types.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.h
- perception/dl_detection/lidar/impl/dld_ditch_line_handler.cppfbc856765d2a60c5d1fa9eddd8ec3aed8373cecd1785313010000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:路沿时域叠加端点排查日志(注释版).
2026-07-29 16:16:50 +0800fbc856765d2a60c5d1fa9eddd8ec3aed8373cecdnote_out:路沿时域叠加端点排查日志(注释版).editperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
- perception/ground_segmentation/services/impl/seg_transform_step.cppperception/ground_segmentation/common/grd_utils.cpp.gitignoreperception/common/utils.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp5714c0f82a9c93ad25a7331d841c913dfdd2746b1785330407000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:extra NROI加高度范围参数.
2026-07-29 21:06:47 +08005714c0f82a9c93ad25a7331d841c913dfdd2746bnote_out:extra NROI加高度范围参数.editperception/common/utils.heditperception/ground_segmentation/services/impl/seg_transform_step.cppeditperception/ground_segmentation/common/grd_utils.cppeditperception/dl_detection/lidar/impl/dld_og_around_impl.cppedit.gitignore
- perception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp0ac5e339c1cbc84c29839af28368a9a5f8d618841785385815000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:宝世顺铁路堆场路沿ROI过滤参数(curb_filter_roi_utm,借像素53过滤逻辑).
新增curb_filter_roi_utm(UTM多边形)参数,在像素53过滤位置对落在ROI内的路沿点一并过滤不输出.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-30 12:30:15 +08000ac5e339c1cbc84c29839af28368a9a5f8d61884note_out:宝世顺铁路堆场路沿ROI过滤参数(curb_filter_roi_utm,借像素53过滤逻辑).editperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/common/common_types.heditperception/dl_detection/common/dld_params_config.h
- perception/dl_detection/lidar/include/dld_debug_info.hperception/dl_detection/utils/dld_visualization_debug.cppperception/dl_detection/lidar/impl/dld_og_around_impl.cpp8441243de6ca010809b73bd374d3a9eac38efa7b1785397936000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:下一时刻过滤框可视化.
2026-07-30 15:52:16 +08008441243de6ca010809b73bd374d3a9eac38efa7bnote_out:下一时刻过滤框可视化.editperception/dl_detection/lidar/include/dld_debug_info.heditperception/dl_detection/utils/dld_visualization_debug.cppeditperception/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.cpp3853d8a7497e55eda4b0b067f92a495ab95ae1cd1785416834000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台车内点聚类初步实现.
2026-07-30 21:07:14 +08003853d8a7497e55eda4b0b067f92a495ab95ae1cdnote_out:烟台车内点聚类初步实现.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/common/dld_params_config.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h447765c997dcc1e0b0670680d8bc2392163b90421785470562000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台自车内聚类优化.
2026-07-31 12:02:42 +0800447765c997dcc1e0b0670680d8bc2392163b9042note_out:烟台自车内聚类优化.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/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/services/impl/dld_sensor_msg_manager.cppperception/dl_detection/services/dld_sensor_msg_manager.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/common/ros_types.hperception/dl_detection/services/impl/dld_vehicle.cppperception/dl_detection/services/dld_vehicle.h2da2985821a477bf2ee16e67883235f7267860bc1785479294000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:接入载车状态消息,控制是否开启自车内聚类和112点标记输出.
2026-07-31 14:28:14 +08002da2985821a477bf2ee16e67883235f7267860bcnote_out:接入载车状态消息,控制是否开启自车内聚类和112点标记输出.editperception/dl_detection/services/dld_vehicle.heditperception/dl_detection/services/dld_sensor_msg_manager.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/services/impl/dld_sensor_msg_manager.cppeditperception/common/ros_types.heditperception/dl_detection/services/impl/dld_vehicle.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp873254f946227a4eb1ad9a33964f323f933e997c1785492431000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 107点的z最低阈值恢复0.1米.
2026-07-31 18:07:11 +0800873254f946227a4eb1ad9a33964f323f933e997cnote_out: 107点的z最低阈值恢复0.1米.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/params/model833eb6150e9691065868742ade1b64b49c0972c71785565067000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@denior.autonote_out:梁山更新专有模型.
2026-08-01 14:17:47 +0800833eb6150e9691065868742ade1b64b49c0972c7note_out:梁山更新专有模型.editperception/dl_detection/params/model
- perception/dl_detection/params/model9f01ddfb0987e1f939b8ac1f56c65ffd82b1913e1785754098000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:前港集卡车头高分阈值0.4->0.55.
2026-08-03 18:48:18 +08009f01ddfb0987e1f939b8ac1f56c65ffd82b1913enote_out:前港集卡车头高分阈值0.4->0.55.editperception/dl_detection/params/model
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp84b3426131c654dcb84ee1104a7669cc848f015b1785903837000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto转向角一个超阈值则整组去框
2026-08-05 12:23:57 +080084b3426131c654dcb84ee1104a7669cc848f015b转向角一个超阈值则整组去框editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- tools/replay_script/.gitignoretools/replay_script/run_perception.shtools/replay_script/deploy.env.exampletools/replay_script/driver_config.yamltools/replay_script/config.yamltools/replay_script/README.mdtools/replay_script/clone_new_detection.shCMakeLists.txttools/replay_script/run_driver.sh0a3bf1ab7003745db20cf3de9931988b2a1367e51786101244000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autofeat(replay_script): 部署脚本相对路径化 + 驱动目录env注入 + 克隆脚本
- run_driver.sh: 配置走相对路径；驱动靠 SETUP_<pkg> 环境变量 source（无硬编码/无搜索），
hesai 外参用 rospack find 推导；新增 --dry-run/--background
- run_perception.sh: 相对化，自动上溯定位 share/perception，/senior 收敛为 SENIOR_ROOT，新增 --dry-run
- 新增 clone_new_detection.sh（加固版 worktree 克隆）、deploy.env.example、.gitignore、README
- driver_config.yaml: imv_4pxt32_2rsbp4 改指非bp4 imv launch（BP3/BP4自动判型合用）
- CMakeLists: 安装 tools/replay_script 到 share/perception/tools/replay_script
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-08-07 19:14:04 +08000a3bf1ab7003745db20cf3de9931988b2a1367e5feat(replay_script): 部署脚本相对路径化 + 驱动目录env注入 + 克隆脚本addtools/replay_script/clone_new_detection.shaddtools/replay_script/deploy.env.exampleedittools/replay_script/config.yamledittools/replay_script/README.mdedittools/replay_script/driver_config.yamleditCMakeLists.txtedittools/replay_script/run_perception.shaddtools/replay_script/.gitignoreedittools/replay_script/run_driver.sh
- tools/replay_script/README.md38084d4fd9205aa80ec04f27c465c0929e2c73111786102457000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autodocs(replay_script): README 补充感知安装路径设置，更新过时注意项
- 快速开始新增“感知安装路径”步骤（PERCEPTION_SHARE/PERCEPTION_SETUP/SENIOR_ROOT）
- run_perception.sh 段落说明非 install 内运行需显式设 PERCEPTION_SHARE
- 环境变量表标注感知安装/系统根相关项
- 注意项更新：2 个 launch 已推送；改列缺失的 5 个感知档分支
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-08-07 19:34:17 +080038084d4fd9205aa80ec04f27c465c0929e2c7311docs(replay_script): README 补充感知安装路径设置，更新过时注意项edittools/replay_script/README.md
git- loc/lidar/src/data_interface.cpploc/lidar/src/lidar_common.cpploc/lidar/src/lidar_common.hloc/param/lidar_loc_v2_node.vehicle_qiangang.yamlloc/app/lidar_loc_v2_node_impl.cpploc/fusion/zupt_check.hloc/param/lidar_loc_v2_node.vehicle_weihai.yamlloc/param/reflect_match/qingdaoqiangang/mrpt_icp.yamlcommon/util/ship_entrance_regions.cpploc/app/check_sr_bag.cpploc/lidar/reflect_match/deck_elevation_manager.hloc/fusion/zupt_check.cpploc/lidar/src/extrinsic_param.cpploc/param/reflect_match/qingdaoqiangang/feature.yamlloc/param/lidar_loc_v2_node.yamlloc/param/lidar_loc_v2_node.vehicle_zhenshi.yamlloc/lidar/reflect_match/registration/mrpt_icp.cpploc/param/reflect_match/zhenshi/feature.yamlloc/param/lidar_loc_v2_node.vehicle.yamlloc/lidar/src/data_interface.hloc/param/lidar_loc_v2_node.vehicle_yangpu.yamlcommon/util/elevation_z_fuse.hcommon/util/ship_entrance_regions.hloc/lidar/reflect_match/deck_elevation_manager.cpploc/app/lidar_loc_v2_node.cppcommon/util/elevation_z_fuse.cpp2e27e4256752ec33bf1bf7b28b336f0b390afdae1784886961000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 更改进船策略为从右向左穿过,允许5帧稳定高层更改锁定高层,接偶is_imv,使其仅控制轮速类型,激光由数组决定,增加gear对静止判定,所有车轮速订阅统一为_with_angle
2026-07-24 17:56:01 +08002e27e4256752ec33bf1bf7b28b336f0b390afdae:new: 更改进船策略为从右向左穿过,允许5帧稳定高层更改锁定高层,接偶is_imv,使其仅控制轮速类型,激光由数组决定,增加gear对静止判定,所有车轮速订阅统一为_with_angleeditloc/param/lidar_loc_v2_node.vehicle.yamladdloc/param/lidar_loc_v2_node.vehicle_qiangang.yamleditloc/param/reflect_match/qingdaoqiangang/feature.yamleditloc/fusion/zupt_check.heditloc/fusion/zupt_check.cppaddloc/param/lidar_loc_v2_node.vehicle_yangpu.yamleditloc/lidar/src/extrinsic_param.cppeditloc/lidar/reflect_match/deck_elevation_manager.heditloc/lidar/src/data_interface.heditcommon/util/elevation_z_fuse.cppeditloc/lidar/src/data_interface.cppeditloc/param/lidar_loc_v2_node.vehicle_weihai.yamldeleteloc/param/lidar_loc_v2_node.vehicle_zhenshi.yamleditloc/param/lidar_loc_v2_node.yamleditloc/param/reflect_match/zhenshi/feature.yamleditcommon/util/ship_entrance_regions.cppeditcommon/util/ship_entrance_regions.heditloc/app/lidar_loc_v2_node_impl.cppeditloc/param/reflect_match/qingdaoqiangang/mrpt_icp.yamleditloc/app/lidar_loc_v2_node.cppeditloc/lidar/src/lidar_common.cppeditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/lidar/src/lidar_common.heditloc/app/check_sr_bag.cppeditloc/lidar/reflect_match/deck_elevation_manager.cppeditcommon/util/elevation_z_fuse.h
- loc/lidar/src/data_interface.cpploc/param/lidar_loc_v2_node.vehicle_weihai.yamlloc/lidar/src/data_interface.hloc/param/lidar_loc_v2_node.vehicle.yamlloc/app/lidar_loc_v2_node_impl.cpp0c84b1be9afc1e0b4cff7c1503822139243397811785395418000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 增加静止判据veichle_speed不小于0.01m/s不判断静止
2026-07-30 15:10:18 +08000c84b1be9afc1e0b4cff7c150382213924339781:new: 增加静止判据veichle_speed不小于0.01m/s不判断静止editloc/lidar/src/data_interface.cppeditloc/param/lidar_loc_v2_node.vehicle_weihai.yamleditloc/app/lidar_loc_v2_node_impl.cppeditloc/lidar/src/data_interface.heditloc/param/lidar_loc_v2_node.vehicle.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/liuyangliuyang442http://159.27.114.184:8080/jenkins/job/orin-slave32/442/