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Changes

Summary

  1. note_out:前港cp更新135k模型,更新submodule model指针[新增sweeper/sprinkler/car类别]. (details)
  2. note_out:前港新模型更新,洒水车和清扫车新类别适配. (details)
  3. note_out: 铁路堆场出口像素53添加过滤和稳定逻辑. (details)
  4. note_out:路沿时域叠加端点排查日志(注释版). (details)
  5. note_out:extra NROI加高度范围参数. (details)
  6. note_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). (details)
  7. note_out:下一时刻过滤框可视化. (details)
  8. note_out:烟台车内点聚类初步实现. (details)
  9. note_out:烟台自车内聚类优化. (details)
  10. note_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. (details)
  11. note_out: 107点的z最低阈值恢复0.1米. (details)
  12. note_out:梁山更新专有模型. (details)
  13. note_out:前港集卡车头高分阈值0.4->0.55. (details)
  14. 转向角一个超阈值则整组去框 (details)
  15. feat(replay_script): 部署脚本相对路径化 + 驱动目录env注入 + 克隆脚本 (details)
  16. docs(replay_script): README 补充感知安装路径设置，更新过时注意项 (details)
Commit 2cb32f7d64484ef65ce2317fc4a167b2cd26507e by tangxiao
note_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>
The file was modifiedperception/dl_detection/params/model
Commit 42b2c5c0e7492b2a98e8f7e37250f0132edf9b0b by tangxiao
note_out:前港新模型更新,洒水车和清扫车新类别适配.
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cpp
The file was modifiedperception/dl_detection/common/dld_params_config.h
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_filter_sets.h
The file was modifiedperception/common/constant.h
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/lib/obstacle_tracking/tracking_common.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.h
Commit c3f6835f162e6984b713e125e569ef0bea0d7925 by tangxiao
note_out: 铁路堆场出口像素53添加过滤和稳定逻辑.
The file was modifiedperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.h
Commit fbc856765d2a60c5d1fa9eddd8ec3aed8373cecd by tangxiao
note_out:路沿时域叠加端点排查日志(注释版).
The file was modifiedperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
Commit 5714c0f82a9c93ad25a7331d841c913dfdd2746b by tangxiao
note_out:extra NROI加高度范围参数.
The file was modifiedperception/common/utils.h
The file was modifiedperception/ground_segmentation/services/impl/seg_transform_step.cpp
The file was modifiedperception/ground_segmentation/common/grd_utils.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modified.gitignore
Commit 0ac5e339c1cbc84c29839af28368a9a5f8d61884 by tangxiao
note_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>
The file was modifiedperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/common/dld_params_config.h
Commit 8441243de6ca010809b73bd374d3a9eac38efa7b by tangxiao
note_out:下一时刻过滤框可视化.
The file was modifiedperception/dl_detection/lidar/include/dld_debug_info.h
The file was modifiedperception/dl_detection/utils/dld_visualization_debug.cpp
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit 3853d8a7497e55eda4b0b067f92a495ab95ae1cd by tangxiao
note_out:烟台车内点聚类初步实现.
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
The file was modifiedperception/dl_detection/common/dld_params_config.h
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit 447765c997dcc1e0b0670680d8bc2392163b9042 by tangxiao
note_out:烟台自车内聚类优化.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
Commit 2da2985821a477bf2ee16e67883235f7267860bc by tangxiao
note_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.
The file was modifiedperception/dl_detection/services/dld_vehicle.h
The file was modifiedperception/dl_detection/services/dld_sensor_msg_manager.h
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/services/impl/dld_sensor_msg_manager.cpp
The file was modifiedperception/common/ros_types.h
The file was modifiedperception/dl_detection/services/impl/dld_vehicle.cpp
Commit 873254f946227a4eb1ad9a33964f323f933e997c by tangxiao
note_out: 107点的z最低阈值恢复0.1米.
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit 833eb6150e9691065868742ade1b64b49c0972c7 by tangxiao
note_out:梁山更新专有模型.
The file was modifiedperception/dl_detection/params/model
Commit 9f01ddfb0987e1f939b8ac1f56c65ffd82b1913e by tangxiao
note_out:前港集卡车头高分阈值0.4->0.55.
The file was modifiedperception/dl_detection/params/model
Commit 84b3426131c654dcb84ee1104a7669cc848f015b by liuwenjing
转向角一个超阈值则整组去框
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit 0a3bf1ab7003745db20cf3de9931988b2a1367e5 by tangxiao
feat(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>
The file was addedtools/replay_script/clone_new_detection.sh
The file was addedtools/replay_script/deploy.env.example
The file was modifiedtools/replay_script/config.yaml
The file was modifiedtools/replay_script/README.md
The file was modifiedtools/replay_script/driver_config.yaml
The file was modifiedCMakeLists.txt
The file was modifiedtools/replay_script/run_perception.sh
The file was addedtools/replay_script/.gitignore
The file was modifiedtools/replay_script/run_driver.sh
Commit 38084d4fd9205aa80ec04f27c465c0929e2c7311 by tangxiao
docs(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>
The file was modifiedtools/replay_script/README.md

Summary

  1. :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 (details)
  2. :new: 增加静止判据veichle_speed不小于0.01m/s不判断静止 (details)
Commit 2e27e4256752ec33bf1bf7b28b336f0b390afdae by liuyang
: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
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was addedloc/param/lidar_loc_v2_node.vehicle_qiangang.yaml
The file was modifiedloc/param/reflect_match/qingdaoqiangang/feature.yaml
The file was modifiedloc/fusion/zupt_check.h
The file was modifiedloc/fusion/zupt_check.cpp
The file was addedloc/param/lidar_loc_v2_node.vehicle_yangpu.yaml
The file was modifiedloc/lidar/src/extrinsic_param.cpp
The file was modifiedloc/lidar/reflect_match/deck_elevation_manager.h
The file was modifiedloc/lidar/src/data_interface.h
The file was modifiedcommon/util/elevation_z_fuse.cpp
The file was modifiedloc/lidar/src/data_interface.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle_weihai.yaml
The file was removedloc/param/lidar_loc_v2_node.vehicle_zhenshi.yaml
The file was modifiedloc/param/lidar_loc_v2_node.yaml
The file was modifiedloc/param/reflect_match/zhenshi/feature.yaml
The file was modifiedcommon/util/ship_entrance_regions.cpp
The file was modifiedcommon/util/ship_entrance_regions.h
The file was modifiedloc/app/lidar_loc_v2_node_impl.cpp
The file was modifiedloc/param/reflect_match/qingdaoqiangang/mrpt_icp.yaml
The file was modifiedloc/app/lidar_loc_v2_node.cpp
The file was modifiedloc/lidar/src/lidar_common.cpp
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was modifiedloc/lidar/src/lidar_common.h
The file was modifiedloc/app/check_sr_bag.cpp
The file was modifiedloc/lidar/reflect_match/deck_elevation_manager.cpp
The file was modifiedcommon/util/elevation_z_fuse.h
Commit 0c84b1be9afc1e0b4cff7c150382213924339781 by liuyang
:new: 增加静止判据veichle_speed不小于0.01m/s不判断静止
The file was modifiedloc/lidar/src/data_interface.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle_weihai.yaml
The file was modifiedloc/app/lidar_loc_v2_node_impl.cpp
The file was modifiedloc/lidar/src/data_interface.h
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml