[Jenkins]Jenkins
Started 2 hr 33 min ago
Took 38 min

Build #317 (Oct 14, 2026 11:07:21 AM)

Changes
  1. note_out:自车重叠过滤类别加入car. (details)
  2. add whztlj map (details)
  3. note_out:车挂修正角方案1+b(单侧挡流板参与+前箱面逐层RANSAC),删掉倒车周期EKF reset (details)
  4. 后雷达不合并入总，仅在构建栅格时转系使用 (details)
  5. note_out:武汉像素42沟沿时域稳定(参考线沿道路法向就近选+车旁兜底+同段旧格删除),两侧参考线间低矮点单独累积,新增栅格状态topic (details)
  6. note_out:模型子模块指向f0071fd(洋浦cp_base_hnyp_ft_new17 epoch_10,青岛cp_agn) (details)
  7. 后雷达点云异常报警改INFO (details)
  8. note_out: 修复H986 低矮障碍物点标记被同栅格未标记点状态默认同化处理bug. (details)
  9. note_out:车挂前箱面逐层RANSAC放宽间隔并加台阶检查,修复跨台阶拟出反号角 (details)
  10. NROI为空后，清空变量避免复用前帧结果 (details)
  11. 点云空（有消息但空点/滤后空点）发布空消息&&删除虚拟单点&&det允许接受空消息 (details)
  12. seg后obj点数为0时报警 (details)
  13. rectified为空时才报警 (details)
  14. note_out:梁山更新模型,混合太阳北海和洋浦数据,龙门吊检测能力下降,车挂检测能力提升. (details)
  15. note_out:津西后向雷达rear_down的og改由dld车周点发出,按lidar_info的og_output_by_dld开关,filter_rear_low_steel打开时过滤地图像素60矮钢板区挂车系z<rear_low_steel_z的点 (details)
  16. note_out:后向og输出rear_down点云解析加异常保护,障碍点索引越界跳过,避免畸形消息让dld崩溃 (details)
  17. note_out:seg不再发挂车系后向og(删output_info/PublishOgMsg),挂车雷达改由seg参数frame_id指定base_ground_trailer,后向og统一由dld按og_output_by_dld发出 (details)
  18. 车体下的后雷达普通合并&&特殊后雷达是否用作栅格参数控制 (details)
  19. note_out:删除seg后向og迁移后残留的output_og_flag注释和plantuml里seg的PublishOgMsg (details)
  20. note_out:新增点级路沿栅格时域叠加curb_grid,地面分割附带校验单点,不依赖像素23 (details)
  21. note_out:路沿栅格改为只叠加拟合前同向点链上的点,同类同向0.3~1.0m旧格由新观测覆盖 (details)
  22. note_out:路沿栅格key改为无符号移位 (details)
  23. note_out:沟沿路沿调试点云时间戳改为微秒,修正PCL转ROS后时间戳错误 (details)
  24. note_out:路沿点链解码只收类型1~4,点下标越界跳过,防畸形消息 (details)
  25. note_out:挂车角标定每帧先清空挂车区下标并重置分界,修复初始角无效时沿用上一帧下标导致BuildCurMat越界崩溃 (details)
  26. note_out:津西水管区删高点时保留车头范围内车挂点(240),修复挂车前墙被删一半导致前脸角跳变 (details)
  27. note_out:挂车角EKF平稳时修正角单帧跳变超3度需连续3帧一致才采用 (details)
  28. note_out:修挡流板空块-1候选点越界读/铲车头尾匹配flag数组越界/挡流板格子数按最长块算 (details)
  29. note_out:地面拟合修四处笔误:got_back/后向参考min_z_b/后向雷达车侧前段用front_refer_z/selected_col_list_用resize (details)
  30. note_out:地面线拟合异常角剔除改用max_diff_th门限,原来恒真每列固定剔一个角 (details)
  31. note_out:后向og加输出下限参数rear_og_z_min(默认0.05),雷达正下方地面环被seg同位点带成障碍的贴地点不再发出 (details)
  32. note_out:后向og下限rear_og_z_min默认改-1且只在rear_og_z_min_xy挂车系xy框内生效,未配置场地不再过滤 (details)
  33. note_out:撤销5c16cfee(后向og下限默认-1和xy框限定),rear_og_z_min恢复默认0.05 (details)
  34. note_out:seg沟沿路沿点配对时两点对雷达张角超过90度且相距超过1m不配对,修复雷达一侧孤立点被接到另一侧点链上 (details)
  35. note_out:dld新增bumper_front_x(默认0关闭),车宽内车头前沿加0.1s前进距离以内不输出路沿点,杠前地面线整条不输出 (details)
  36. note_out:dld模型初始化期间发302011,TensorRT cache写失败发302012 (details)
  37. note_out:模型子模块指向烟台NMS_BOARD打开car压pedestrian (details)
  38. note_out:seg噪声过滤后障碍候选点沿环抽稀(5m内同环相邻xy差≤1cm删),noise_filter.range_downsample开关默认关 (details)
  39. note_out:dld障碍点uniform降采样改为体素key基数排序去重(DoUniformSamplingSorted),不建哈希表,8.7万点8ms->3.5ms,原函数保留 (details)
  40. note_out:og_around零结果优化:连通域编号查表一次写出代替逐域setTo,GetOgAroundPoints每点地图像素只查一次,BuildCurMat zmin/zmax改move,OutputOg预留且过滤点云仅有订阅时拷,og_around约22->17ms (details)
  41. note_out:dld后向og加高点过滤filter_rear_og_high,挂车系z高于rear_og_z_max(缺省3.55)的点不发,默认关 (details)
  42. note_out:dld ObbToTrackBox外圈框角点不足4个时跳过,修开obj_expand_og_label后合成自车挂框段错误 (details)
  43. note_out:dld读感知地图后补单像素0值缝(两侧同值才补),修路面中间缝被当图外导致漏吸点无标签og (details)
  44. note_out:dld地图补单像素0值缝改为pre_cloud.fill_map_zero_gap控制,缺省关 (details)
  45. note_out:dld TensorRT缓存key改为onnx内容hash+TRT版本,改yaml或其他场地换模型不再触发重新生成引擎 (details)
  46. note_out:dld草区过滤保留label0/202的高反点(weed_keep_high_intensity,缺省关),车周点打236跳过邻域过滤,修厦门草区锥桶漏检 (details)
  47. note_out:dld子模块更新,TensorRT cache先写临时文件再改名,坏cache反序列化失败时删掉 (details)
Changes
  1. :new: 修复原地旋转速度矢量和为零的静止误判,增加动态地图窗口优化 (details)
  2. :new: 新增挂死监测,新增烟台专用停车位ins准确监测 (details)
  3. :bug: 如果现场不能使用轮速作为观测,静止未锁定前仍使用激光作为观测 (details)
  4. :new: 关闭负担很重的全盘pid的定时记录 (details)
  5. :new: 增加全局一次地面矫正的ins检验 (details)
  6. :new: 修改地面矫正ins核对的开启配置 (details)
  7. :new: 增加对4轮的速度异常检测 (details)
  8. :new: 增加严格静止逻辑 (details)
  9. :new: 新增跳变抑制,修改状态5的得分判据,必须大于0.6 (details)
  10. :bug: 修复单个轮子掉零仍使用平均轮速的问题,修复单次地面矫正不准确的问题 (details)

Started by user baiyongqiang

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