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#317317false3171345851SUCCESS1791947241294http://159.27.114.184:8080/jenkins/job/orin-slave64/317/- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_filter_sets.h1d60ba50957ccab5bed7ff81495dbcfc855b6d671790130713000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:自车重叠过滤类别加入car.
2026-09-23 10:31:53 +08001d60ba50957ccab5bed7ff81495dbcfc855b6d67note_out:自车重叠过滤类别加入car.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_filter_sets.h
- perception/dl_detection/params/map/perception_map_ztlj.png6f6ebf2529809ab20700ab681daba7e2bd66db4d1790142308000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.autoadd whztlj map
2026-09-23 13:45:08 +08006f6ebf2529809ab20700ab681daba7e2bd66db4dadd whztlj mapaddperception/dl_detection/params/map/perception_map_ztlj.png
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp0cacd59a3fd8755dd28eb8c637d3e87514b9d7151790146373000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-09-23 14:52:53 +08000cacd59a3fd8755dd28eb8c637d3e87514b9d715note_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 reseteditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
- perception/dl_detection/lidar/include/dld_data_provider.hperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp5a6d46103fc32461ddaad78b2b48b7cf28c2974e1790231307000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto后雷达不合并入总，仅在构建栅格时转系使用
2026-09-24 14:28:27 +08005a6d46103fc32461ddaad78b2b48b7cf28c2974e后雷达不合并入总，仅在构建栅格时转系使用editperception/dl_detection/lidar/include/dld_data_provider.heditperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppperception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp8726cb4f52ec92830434af0212156cf0bcf753f91790251380000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-09-24 20:03:00 +08008726cb4f52ec92830434af0212156cf0bcf753f9note_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topiceditperception/common/common_types.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
- perception/dl_detection/params/model5dfe659db7c979e299d7f977165a9823f3a51da51790563526000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:模型子模块指向f0071fd(洋浦cp_base_hnyp_ft_new17 epoch_10,青岛cp_agn)
2026-09-28 10:45:26 +08005dfe659db7c979e299d7f977165a9823f3a51da5note_out:模型子模块指向f0071fd(洋浦cp_base_hnyp_ft_new17 epoch_10,青岛cp_agn)editperception/dl_detection/params/model
- perception/dl_detection/params/obstacle_detection_param_zh.yamlperception/dl_detection/params/obstacle_detection_param_ts.yamlperception/ground_segmentation/params/seg_error_code_config.yamlperception/dl_detection/params/obstacle_detection_param_dx.yamlperception/dl_detection/params/obstacle_detection_param_imv.yaml71c9c8f5670a19639e04a6bd1cbfdfd7475d5e191790575837000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto后雷达点云异常报警改INFO
2026-09-28 14:10:37 +080071c9c8f5670a19639e04a6bd1cbfdfd7475d5e19后雷达点云异常报警改INFOdeleteperception/dl_detection/params/obstacle_detection_param_zh.yamleditperception/ground_segmentation/params/seg_error_code_config.yamldeleteperception/dl_detection/params/obstacle_detection_param_dx.yamldeleteperception/dl_detection/params/obstacle_detection_param_ts.yamldeleteperception/dl_detection/params/obstacle_detection_param_imv.yaml
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp70fa03e4db043d8184de352d9732d19c6a1ebeac1790596922000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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.
2026-09-28 20:02:02 +080070fa03e4db043d8184de352d9732d19c6a1ebeacnote_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.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppef5d3a302dc7beb847123fa306c320f8c0c08b1f1790673230000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-09-29 17:13:50 +0800ef5d3a302dc7beb847123fa306c320f8c0c08b1fnote_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editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/ground_segmentation/services/impl/seg_transform_step.cpp7b696bd3c1a1abe3957204f6b3db9752fce747711790756000000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.autoNROI为空后，清空变量避免复用前帧结果
2026-09-30 16:13:20 +08007b696bd3c1a1abe3957204f6b3db9752fce74771NROI为空后，清空变量避免复用前帧结果editperception/ground_segmentation/services/impl/seg_transform_step.cpp
- perception/ground_segmentation/common/data_injector.cppperception/ground_segmentation/services/impl/seg_transform_step.cppperception/ground_segmentation/components/seg_obstacle.cppperception/dl_detection/services/impl/dld_subscriber.cppperception/lib/geometry/ransac_plane.hperception/ground_segmentation/components/seg_fusion.cppperception/ground_segmentation/services/impl/seg_obstacle_step.cppperception/ground_segmentation/services/impl/seg_ground_step.cppperception/ground_segmentation/common/data_injector.hperception/lib/geometry/ransac_plane.cppaf5220288a1fc25d448000b9add51070a3b63fb71790767861000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto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
2026-09-30 19:31:01 +0800af5220288a1fc25d448000b9add51070a3b63fb7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editperception/ground_segmentation/common/data_injector.heditperception/ground_segmentation/common/data_injector.cppeditperception/ground_segmentation/services/impl/seg_transform_step.cppeditperception/ground_segmentation/services/impl/seg_ground_step.cppeditperception/dl_detection/services/impl/dld_subscriber.cppeditperception/ground_segmentation/components/seg_obstacle.cppeditperception/ground_segmentation/services/impl/seg_obstacle_step.cppeditperception/lib/geometry/ransac_plane.heditperception/lib/geometry/ransac_plane.cppeditperception/ground_segmentation/components/seg_fusion.cpp
- perception/ground_segmentation/params/seg_error_code_config.yaml2423be1d6689f4095cb0be0889b178803deb5d941790768286000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.autoseg后obj点数为0时报警
2026-09-30 19:38:06 +08002423be1d6689f4095cb0be0889b178803deb5d94seg后obj点数为0时报警editperception/ground_segmentation/params/seg_error_code_config.yaml
- perception/ground_segmentation/params/seg_error_code_config.yamlperception/ground_segmentation/services/impl/seg_obstacle_step.cppcff428f9a165b945e66c1f95fa1a53cdcfd17fd71790769145000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.autorectified为空时才报警
2026-09-30 19:52:25 +0800cff428f9a165b945e66c1f95fa1a53cdcfd17fd7rectified为空时才报警editperception/ground_segmentation/params/seg_error_code_config.yamleditperception/ground_segmentation/services/impl/seg_obstacle_step.cpp
- perception/dl_detection/params/modelacf166e1b3d73d19a4e8c6541d3f42e32f4578e61791426100000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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.
2026-10-08 10:21:40 +0800acf166e1b3d73d19a4e8c6541d3f42e32f4578e6note_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.editperception/dl_detection/params/model
- 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_pointcloud_preprocessor.cppperception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppa1d3c8fcbed504c986dbdc37919dd71d5a1db6b01791530391000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 15:19:51 +0800a1d3c8fcbed504c986dbdc37919dd71d5a1db6b0note_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editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/include/dld_data_provider.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp6142bc6445262a84868d6c15df410cea7d309d3c1791535032000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 16:37:12 +08006142bc6445262a84868d6c15df410cea7d309d3cnote_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editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/ground_segmentation/common/publisher_utils.hperception/ground_segmentation/services/seg_obstacle_step.hperception/ground_segmentation/common/basic_types.hperception/ground_segmentation/common/grd_utils.cppperception/ground_segmentation/services/impl/seg_obstacle_step.cppd2f5b5301f8945508de97b73d2813a42529ea62a1791537123000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 17:12:03 +0800d2f5b5301f8945508de97b73d2813a42529ea62anote_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editperception/ground_segmentation/common/grd_utils.cppeditperception/ground_segmentation/common/publisher_utils.heditperception/ground_segmentation/services/seg_obstacle_step.heditperception/ground_segmentation/services/impl/seg_obstacle_step.cppeditperception/ground_segmentation/common/basic_types.h
- perception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/include/dld_data_provider.hperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppdea03a5bb9cbf41b46d80af85c9ebd21c1eae3db1791541742000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto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
2026-10-09 18:29:02 +0800dea03a5bb9cbf41b46d80af85c9ebd21c1eae3db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editperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppeditperception/dl_detection/lidar/include/dld_data_provider.heditperception/dl_detection/common/dld_params_config.h
- perception/dl_detection/common/dld_params_config.hdoc/ground_segmentation.plantuml6976c6208498011b1bdf86b3a0086e6455ec8ab41791545409000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:删除seg后向og迁移后残留的output_og_flag注释和plantuml里seg的PublishOgMsg
2026-10-09 19:30:09 +08006976c6208498011b1bdf86b3a0086e6455ec8ab4note_out:删除seg后向og迁移后残留的output_og_flag注释和plantuml里seg的PublishOgMsgeditdoc/ground_segmentation.plantumleditperception/dl_detection/common/dld_params_config.h
- perception/ground_segmentation/services/impl/seg_ground_alg_plus.cppperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/dl_detection/lidar/include/dld_data_provider.hperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppperception/common/common_types.hd149b7e261c46e8edd772520b0faea20695b04a11791545416000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 19:30:16 +0800d149b7e261c46e8edd772520b0faea20695b04a1note_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23editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/include/dld_data_provider.heditperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppeditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppeditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/dl_detection/lidar/include/dld_data_provider.hperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppperception/ground_segmentation/services/seg_ground_alg_plus.h096918c99e3c782155732a4007778aa014a4d15d1791545416000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 19:30:16 +0800096918c99e3c782155732a4007778aa014a4d15dnote_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editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.heditperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppeditperception/ground_segmentation/services/seg_ground_alg_plus.heditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/dl_detection/lidar/include/dld_data_provider.heditperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp2630465546c3fc04c43ff5015e376bf474c1ab751791545416000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:路沿栅格key改为无符号移位
2026-10-09 19:30:16 +08002630465546c3fc04c43ff5015e376bf474c1ab75note_out:路沿栅格key改为无符号移位editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.heditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
- perception/dl_detection/lidar/impl/dld_ditch_line_handler.cppec999d9c6f2496e485d13de088394b685c13d82d1791545416000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 19:30:16 +0800ec999d9c6f2496e485d13de088394b685c13d82dnote_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editperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
- perception/dl_detection/lidar/impl/dld_ditch_line_handler.cppperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp2921383d0de4c209e4b8ae44f2037d91833f60bd1791545416000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 19:30:16 +08002921383d0de4c209e4b8ae44f2037d91833f60bdnote_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editperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp330eb63d4f536fd9396157d226bf948c01ae1ae61791547546000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 20:05:46 +0800330eb63d4f536fd9396157d226bf948c01ae1ae6note_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editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp1ebce6403735da1cbda8286bde9bc5539e2a7cc01791550673000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 20:57:53 +08001ebce6403735da1cbda8286bde9bc5539e2a7cc0note_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editperception/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.h529736f3e57e45d3206c025d599ffd045c8a53211791550673000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-09 20:57:53 +0800529736f3e57e45d3206c025d599ffd045c8a5321note_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.cppperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppfca65dda09ac6eda693e5365ab573ba08a7b05d51791616211000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-10 15:10:11 +0800fca65dda09ac6eda693e5365ab573ba08a7b05d5note_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editperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/ground_segmentation/services/impl/seg_ground_fit.cpp39acc5c438acab4308abe97e01e85ab18c8a4c201791618247000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-10 15:44:07 +080039acc5c438acab4308abe97e01e85ab18c8a4c20note_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resizeeditperception/ground_segmentation/services/impl/seg_ground_fit.cpp
- perception/ground_segmentation/services/impl/seg_ground_fit.cpp90f2ed8248e6b96a0d84e2dc594b2697f2b8d4691791618305000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-10 15:45:05 +080090f2ed8248e6b96a0d84e2dc594b2697f2b8d469note_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editperception/ground_segmentation/services/impl/seg_ground_fit.cpp
- perception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp822edd4a7e50a1e85fa0f257bafed9a1982e0aab1791620008000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-10 16:13:28 +0800822edd4a7e50a1e85fa0f257bafed9a1982e0aabnote_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editperception/dl_detection/common/dld_params_config.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp5c16cfee8b04f67c82594f1e7d6e3bd98549e0401791622153000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-10 16:49:13 +08005c16cfee8b04f67c82594f1e7d6e3bd98549e040note_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editperception/common/common_types.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/common/common_types.h2c3ae145c1507f033153a4a524114cad58b69a031791623601000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-10 17:13:21 +08002c3ae145c1507f033153a4a524114cad58b69a03note_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0.05editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/common/dld_params_config.heditperception/common/common_types.h
- perception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp6c7f86a055711586227be1b27a075e52485508ce1791729728000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@denior.autonote_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
2026-10-11 22:42:08 +08006c7f86a055711586227be1b27a075e52485508cenote_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editperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppperception/dl_detection/common/dld_params_config.hperception/common/common_types.hd16789a5a3e22b14a268c171124addd95e1fcaf41791729728000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@denior.autonote_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
2026-10-11 22:42:08 +0800d16789a5a3e22b14a268c171124addd95e1fcaf4note_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editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.heditperception/common/common_types.h
- perception/dl_detection/CMakeLists.txtperception/dl_detection/lidar/impl/dld_inference_processor.cppperception/dl_detection/lidar/include/dld_inference_processor.hperception/dl_detection/params/det_error_code_config.yaml38d16c1863f956d222eed9a4236008abcb7752d21791802069000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:dld模型初始化期间发302011,TensorRT cache写失败发302012
2026-10-12 18:47:49 +080038d16c1863f956d222eed9a4236008abcb7752d2note_out:dld模型初始化期间发302011,TensorRT cache写失败发302012editperception/dl_detection/params/det_error_code_config.yamleditperception/dl_detection/lidar/impl/dld_inference_processor.cppeditperception/dl_detection/CMakeLists.txteditperception/dl_detection/lidar/include/dld_inference_processor.h
- perception/dl_detection/params/model7df37ac57700bbae395a06ddff06fc55b900c81b1791805168000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:模型子模块指向烟台NMS_BOARD打开car压pedestrian
2026-10-12 19:39:28 +08007df37ac57700bbae395a06ddff06fc55b900c81bnote_out:模型子模块指向烟台NMS_BOARD打开car压pedestrianeditperception/dl_detection/params/model
- perception/ground_segmentation/common/basic_types.hperception/ground_segmentation/common/grd_utils.cppperception/ground_segmentation/services/impl/seg_ground_step.cppperception/ground_segmentation/services/seg_ground_step.hcdc9c505b1cecf9469c185a5fc074d7c29ae6da71791806547000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-12 20:02:27 +0800cdc9c505b1cecf9469c185a5fc074d7c29ae6da7note_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editperception/ground_segmentation/common/basic_types.heditperception/ground_segmentation/services/impl/seg_ground_step.cppeditperception/ground_segmentation/services/seg_ground_step.heditperception/ground_segmentation/common/grd_utils.cpp
- perception/dl_detection/lidar/include/dld_pointcloud_filter_processor.hperception/dl_detection/lidar/impl/dld_pointcloud_filter_processor.cppd3e898f2e216b9f59ae04d805a5885a1734c61311791806547000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-12 20:02:27 +0800d3e898f2e216b9f59ae04d805a5885a1734c6131note_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editperception/dl_detection/lidar/include/dld_pointcloud_filter_processor.heditperception/dl_detection/lidar/impl/dld_pointcloud_filter_processor.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp37d6e26a9507b369c02ca10c6744bad3287779f11791809120000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-12 20:45:20 +080037d6e26a9507b369c02ca10c6744bad3287779f1note_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->17mseditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp88db1934728508a526885959f94b0b7c179236491791862120000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-13 11:28:40 +080088db1934728508a526885959f94b0b7c17923649note_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editperception/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_detection_postprocessor.cpp13d7dbc1ed35798133f9b2e53ee0f691a922c5171791878148000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-13 15:55:48 +080013d7dbc1ed35798133f9b2e53ee0f691a922c517note_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editperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
- perception/dl_detection/utils/dld_map_mask_util.cpp31fbaf5ae420872fc0afaa71b2052251a4baf9271791880789000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-13 16:39:49 +080031fbaf5ae420872fc0afaa71b2052251a4baf927note_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ogeditperception/dl_detection/utils/dld_map_mask_util.cpp
- perception/dl_detection/utils/dld_map_mask_util.hperception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/utils/dld_map_mask_util.cppperception/dl_detection/lidar/impl/dld_lidar_detection.cpp530fe31f0ec4fd1eea9a846eaa8a89884cc2afcb1791882203000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:dld地图补单像素0值缝改为pre_cloud.fill_map_zero_gap控制,缺省关
2026-10-13 17:03:23 +0800530fe31f0ec4fd1eea9a846eaa8a89884cc2afcbnote_out:dld地图补单像素0值缝改为pre_cloud.fill_map_zero_gap控制,缺省关editperception/common/common_types.heditperception/dl_detection/utils/dld_map_mask_util.cppeditperception/dl_detection/lidar/impl/dld_lidar_detection.cppeditperception/dl_detection/utils/dld_map_mask_util.heditperception/dl_detection/common/dld_params_config.h
- perception/dl_detection/lib/pointpillarsperception/dl_detection/CMakeLists.txtperception/dl_detection/lidar/impl/dld_inference_processor.cppperception/dl_detection/lib/centerpoint23488d768911eca8063f02ed5551e7f6874ca80d1791890623000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-13 07:23:43 -040023488d768911eca8063f02ed5551e7f6874ca80dnote_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editperception/dl_detection/lib/pointpillarseditperception/dl_detection/CMakeLists.txteditperception/dl_detection/lib/centerpointeditperception/dl_detection/lidar/impl/dld_inference_processor.cpp
- perception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppperception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp35f4af21ebfb02761e5878d90f7800a2382801701791892136000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-13 19:48:56 +080035f4af21ebfb02761e5878d90f7800a238280170note_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editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppeditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lib/pointpillarsperception/dl_detection/lib/centerpointc5bcbb1df95d560159a768c6c3ccd6295aa499b41791947448000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_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
2026-10-14 11:10:48 +0800c5bcbb1df95d560159a768c6c3ccd6295aa499b4note_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editperception/dl_detection/lib/centerpointeditperception/dl_detection/lib/pointpillars
git- loc/param/reflect_match/suxi/region.yamlloc/lidar/src/data_interface.cpploc/param/lidar_loc_v2_node.vehicle_yantai.yamlloc/param/lidar_loc_v2_node.vehicle_xilian.yamlloc/param/reflect_match/suxi/mask.yamlloc/param/reflect_match/xiasha/region_maintainer.yamlupdate/manage/CMakeLists.txtloc/param/lidar_loc_v2_node.vehicle_youyiguan.yamlloc/param/lidar_loc_v2_node.vehicle_weihai.yamlloc/param/reflect_match/suxi/feature.yamlupdate/online_mapping/online_mapping.cpploc/param/lidar_loc_v2_node.vehicle_suxi.yamlupdate/flow/map_update_flow.hloc/param/reflect_match/yantai/mrpt_icp.yamlloc/test/test_data_interface.cpploc/param/lidar_loc_v2_node.vehicle_xiasha.yamlupdate/manage/dynamic_map_manage.cpploc/param/reflect_match/xiasha/feature.yamlupdate/online_mapping/online_mapping.hloc/lidar/reflect_match/registration/mrpt_icp.cpploc/param/reflect_match/yantai/mask.yamlloc/param/reflect_match/youyiguan/feature.yamlupdate/online_mapping/CMakeLists.txtloc/param/lidar_loc_v2_node.vehicle.yamlloc/param/reflect_match/yantai/region.yamlupdate/flow/map_update_flow.cpploc/param/reflect_match/xilian/mrpt_icp.yamlloc/param/reflect_match/yantai/region_maintainer.yamlloc/param/reflect_match/suxi/mrpt_icp.yamlloc/param/reflect_match/xilian/region.yamlloc/param/reflect_match/xiasha/mrpt_icp.yamlloc/param/reflect_match/yantai/feature.yamlloc/launch/lidar_loc_v2_node.rvizloc/param/reflect_match/xiasha/region.yamlloc/param/reflect_match/youyiguan/mrpt_icp.yamlupdate/flow/CMakeLists.txtloc/param/reflect_match/xiasha/mask.yamlloc/lidar/src/lidar_manage.cpp0821419cd0516f12d675e50a47d540c0841383f51788514867000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto: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
2026-09-04 17:41:07 +08000821419cd0516f12d675e50a47d540c0841383f5: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editloc/param/reflect_match/suxi/region.yamladdloc/param/lidar_loc_v2_node.vehicle_yantai.yamleditupdate/online_mapping/CMakeLists.txtaddloc/param/lidar_loc_v2_node.vehicle_xiasha.yamleditloc/param/reflect_match/xilian/mrpt_icp.yamleditloc/lidar/src/lidar_manage.cppeditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/param/lidar_loc_v2_node.vehicle.yamladdloc/param/reflect_match/yantai/region.yamladdloc/param/reflect_match/xiasha/region_maintainer.yamleditloc/param/reflect_match/suxi/mrpt_icp.yamleditloc/param/reflect_match/suxi/feature.yamladdloc/param/reflect_match/xiasha/mask.yamladdloc/param/reflect_match/yantai/feature.yamleditupdate/flow/CMakeLists.txtaddloc/param/lidar_loc_v2_node.vehicle_weihai.yamleditloc/param/reflect_match/xilian/region.yamleditloc/launch/lidar_loc_v2_node.rvizeditloc/param/reflect_match/youyiguan/mrpt_icp.yamladdloc/param/reflect_match/yantai/mrpt_icp.yamleditloc/test/test_data_interface.cppeditloc/lidar/src/data_interface.cppeditupdate/flow/map_update_flow.cppeditupdate/online_mapping/online_mapping.heditloc/param/lidar_loc_v2_node.vehicle_suxi.yamleditupdate/manage/dynamic_map_manage.cppeditloc/param/lidar_loc_v2_node.vehicle_youyiguan.yamladdloc/param/reflect_match/xiasha/mrpt_icp.yamleditupdate/online_mapping/online_mapping.cppeditloc/param/reflect_match/suxi/mask.yamladdloc/param/reflect_match/yantai/region_maintainer.yamladdloc/param/reflect_match/xiasha/feature.yamldeleteloc/param/lidar_loc_v2_node.vehicle_xilian.yamladdloc/param/reflect_match/yantai/mask.yamleditloc/param/reflect_match/youyiguan/feature.yamladdloc/param/reflect_match/xiasha/region.yamleditupdate/manage/CMakeLists.txteditupdate/flow/map_update_flow.h
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2026-09-10 11:29:46 +08005075a0b33841aadb39f1110aaccfd7702c43a1a1:new: 新增挂死监测,新增烟台专用停车位ins准确监测editloc/param/lidar_loc_v2_node.vehicle_yantai.yamleditloc/launch/lidar_loc_v2_node.rvizaddloc/param/reflect_match/jinxi/region.yamleditloc/lidar/src/lidar_manage.heditloc/app/lidar_loc_v2_node.cppaddloc/param/lidar_loc_v2_node.vehicle_xilian.yamladdloc/lidar/parking_ins_validation/parking_ins_validator.cppeditloc/param/lidar_loc_v2_node.vehicle_yangpu.yamladdloc/param/reflect_match/jinxi/mask.yamladdloc/param/reflect_match/jinxi/mrpt_icp.yamleditloc/CMakeLists.txtaddloc/param/reflect_match/zhongtie/region_maintainer.yamleditloc/lidar/src/lidar_manage.cppeditloc/param/warn_module.yamladdloc/lidar/parking_ins_validation/parking_ins_validator.haddloc/param/reflect_match/zhongtie/region.yamladdloc/param/reflect_match/jinxi/feature.yamleditcommon/util/warn_utils.haddloc/param/reflect_match/jinxi/region_maintainer.yamladdloc/param/reflect_match/zhongtie/mask.yamladdloc/param/reflect_match/zhongtie/feature.yamleditloc/param/lidar_loc_v2_node.vehicle.yamladdloc/param/lidar_loc_v2_node.vehicle_zhongtie.yamladdloc/param/reflect_match/zhongtie/mrpt_icp.yaml
- loc/lidar/src/lidar_manage.hloc/app/lidar_loc_v2_node_impl.cppcommon/util/thread_pool.h18d383d7ba44ae06ee3391c7cc151fc030aebf981789026607000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto: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
2026-09-10 15:50:07 +080018d383d7ba44ae06ee3391c7cc151fc030aebf98: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editcommon/util/thread_pool.heditloc/app/lidar_loc_v2_node_impl.cppeditloc/lidar/src/lidar_manage.h
- loc/lidar/src/lidar_process.hcommon/util/ros_util.cpploc/lidar/src/lidar_manage.hmapping/base_map/map_ref.hloc/app/lidar_loc_v2_node_impl.cppcommon/util/time_logger.cpploc/lidar/ndt_match/ndt_process.cppupdate/online_mapping/online_mapping.cppmapping/semantic_map/semantic_map_ref.hcommon/util/ground_match_correction.cppcommon/util/async_writer.cpploc/test/CMakeLists.txtloc/lidar/semantic_match/semantic_lidar_manage.cpploc/fusion/msf_wrapper.cpploc/lidar/intensity_match/histogram_matcher/histogram_matcher.hcommon/util/adjust_freq.cppcommon/util/monitor_msg_freq.cppupdate/flow/map_update_flow.cppcommon/util/wheel_odom.cpploc/lidar/semantic_match/semantic_lidar_manage.hcommon/util/thread_pool.hcommon/util/heartbeat_frame.hloc/lidar/intensity_match/intensity_process.cppcommon/util/pose_cmp_process.hloc/test/test_gps_reject_recovery.cppmapping/base_map/base_map.cpploc/lidar/intensity_match/histogram_matcher/histogram_matcher.cpploc/lidar/src/lidar_manage.cpploc/param/lidar_loc_v2_node.vehicle_yantai.yamlloc/lidar/intensity_match/intensity_matcher.hloc/lidar/ndt_match/ndt_process.hcommon/util/pose_cmp_process.cppmapping/base_map/map_ref.cpploc/lidar/reflect_match/reflect_lidar_process.hmapping/intensity_map/intensity_map_ref.cppmapping/intensity_map/intensity_map_ref.hloc/lidar/reflect_match/reflect_lidar_process.cpploc/app/lidar_loc_v2_node_impl.hupdate/manage/dynamic_map_manage.hloc/fusion/zupt_measurement.cpploc/lidar/intensity_match/ceres_matcher/ceres_matcher.hloc/lidar/src/extrinsic_param.cppupdate/manage/dynamic_map_manage.cpploc/lidar/intensity_match/ceres_matcher/ceres_matcher.cppcommon/util/err_snapshot.cppmapping/semantic_map/semantic_map_ref.cpploc/lidar/intensity_match/intensity_process.hcommon/util/heartbeat_frame.cpploc/lidar/intensity_match/intensity_matcher.cppcommon/util/wheel_odom.hcommon/util/pose_compare.hcommon/util/pose_compare.hppcommon/util/monitor_msg_freq.hloc/lidar/src/lidar_process.cppcommon/util/err_snapshot.hloc/fusion/msf_wrapper.hloc/app/lidar_loc_v2_node.cppd9d17706b01fef68442f00667b5c33f73bd81a531789454586000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 关闭负担很重的全盘pid的定时记录
2026-09-15 14:43:06 +0800d9d17706b01fef68442f00667b5c33f73bd81a53:new: 关闭负担很重的全盘pid的定时记录editloc/fusion/zupt_measurement.cppeditloc/lidar/intensity_match/ceres_matcher/ceres_matcher.cppeditloc/app/lidar_loc_v2_node_impl.heditupdate/flow/map_update_flow.cppeditcommon/util/heartbeat_frame.cppeditcommon/util/pose_cmp_process.heditupdate/online_mapping/online_mapping.cppeditloc/lidar/intensity_match/intensity_matcher.cppeditloc/lidar/src/lidar_process.heditcommon/util/adjust_freq.cppeditcommon/util/wheel_odom.cppeditcommon/util/ground_match_correction.cppeditloc/lidar/intensity_match/intensity_matcher.heditcommon/util/heartbeat_frame.heditcommon/util/err_snapshot.heditloc/fusion/msf_wrapper.cppaddloc/test/test_gps_reject_recovery.cppeditloc/fusion/msf_wrapper.heditmapping/semantic_map/semantic_map_ref.cppeditmapping/intensity_map/intensity_map_ref.heditloc/lidar/reflect_match/reflect_lidar_process.heditloc/lidar/intensity_match/intensity_process.cppeditcommon/util/err_snapshot.cppeditcommon/util/wheel_odom.heditloc/lidar/ndt_match/ndt_process.cppeditcommon/util/ros_util.cppeditupdate/manage/dynamic_map_manage.cppeditloc/lidar/intensity_match/histogram_matcher/histogram_matcher.cppeditloc/lidar/src/lidar_manage.cppeditloc/lidar/semantic_match/semantic_lidar_manage.cppeditmapping/base_map/map_ref.cppeditloc/lidar/intensity_match/intensity_process.heditcommon/util/pose_compare.heditloc/lidar/reflect_match/reflect_lidar_process.cppeditloc/lidar/src/lidar_manage.heditloc/lidar/intensity_match/ceres_matcher/ceres_matcher.heditloc/lidar/intensity_match/histogram_matcher/histogram_matcher.heditcommon/util/async_writer.cppeditupdate/manage/dynamic_map_manage.heditmapping/semantic_map/semantic_map_ref.heditcommon/util/monitor_msg_freq.cppeditloc/lidar/semantic_match/semantic_lidar_manage.heditloc/app/lidar_loc_v2_node.cppeditloc/app/lidar_loc_v2_node_impl.cppeditmapping/base_map/map_ref.heditcommon/util/pose_cmp_process.cppeditloc/param/lidar_loc_v2_node.vehicle_yantai.yamleditmapping/intensity_map/intensity_map_ref.cppeditmapping/base_map/base_map.cppeditcommon/util/pose_compare.hppeditcommon/util/time_logger.cppeditcommon/util/monitor_msg_freq.heditcommon/util/thread_pool.heditloc/test/CMakeLists.txteditloc/lidar/src/extrinsic_param.cppeditloc/lidar/ndt_match/ndt_process.heditloc/lidar/src/lidar_process.cpp
- loc/param/lidar_loc_v2_node.vehicle.yamlloc/param/reflect_match/jinxi/mask.yamlloc/param/reflect_match/jinxi/mrpt_icp.yamlcommon/util/ship_entrance_ground_anchor.hcommon/util/ship_entrance_ground_anchor.cpploc/param/reflect_match/jinxi/feature.yamlloc/lidar/reflect_match/feature/feature_extractor.cpploc/param/reflect_match/jinxi/region.yaml63db14e2a6e171208a761fb6fc1233237a6167b11789524479000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 增加全局一次地面矫正的ins检验
2026-09-16 10:07:59 +080063db14e2a6e171208a761fb6fc1233237a6167b1:new: 增加全局一次地面矫正的ins检验editloc/lidar/reflect_match/feature/feature_extractor.cppeditloc/param/reflect_match/jinxi/feature.yamleditloc/param/reflect_match/jinxi/mrpt_icp.yamleditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/param/reflect_match/jinxi/mask.yamleditcommon/util/ship_entrance_ground_anchor.cppeditcommon/util/ship_entrance_ground_anchor.heditloc/param/reflect_match/jinxi/region.yaml
- loc/param/lidar_loc_v2_node.vehicle.yamlloc/test/test_gps_reject_recovery.cpploc/app/lidar_loc_v2_node_impl.cpploc/launch/lidar_loc_v2_node.rvizmapping/base_map/map_ref.cpploc/param/lidar_loc_v2_node.vehicle_youyiguan.yamlloc/param/lidar_loc_v2_node.yamlcommon/util/ship_entrance_ground_anchor.hcommon/util/ship_entrance_ground_anchor.cpploc/param/lidar_loc_v2_node.vehicle_jinxi.yamlloc/lidar/reflect_match/feature/feature_extractor.cppc459beaccef8012eb86ce8fd39631fa47f547fe01789626341000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 修改地面矫正ins核对的开启配置
2026-09-17 14:25:41 +0800c459beaccef8012eb86ce8fd39631fa47f547fe0:new: 修改地面矫正ins核对的开启配置addloc/param/lidar_loc_v2_node.vehicle_jinxi.yamleditloc/test/test_gps_reject_recovery.cppeditcommon/util/ship_entrance_ground_anchor.cppeditloc/app/lidar_loc_v2_node_impl.cppeditloc/lidar/reflect_match/feature/feature_extractor.cppeditcommon/util/ship_entrance_ground_anchor.hdeleteloc/param/lidar_loc_v2_node.vehicle_youyiguan.yamleditloc/launch/lidar_loc_v2_node.rvizeditmapping/base_map/map_ref.cppeditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/param/lidar_loc_v2_node.yaml
- loc/lidar/src/data_interface.cpploc/param/reflect_match/zhenshi/feature.yamlloc/param/lidar_loc_v2_node.vehicle.yamlloc/app/lidar_loc_v2_node_impl.cpploc/test/test_data_interface.cpploc/param/lidar_loc_v2_node.vehicle_youyiguan.yamlloc/param/reflect_match/zhenshi/mrpt_icp.yamlloc/lidar/src/data_interface.hloc/param/lidar_loc_v2_node.vehicle_zhenshi.yaml415353f9bd56d9e0a9eacc20eea4a249671e62ba1790244093000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 增加对4轮的速度异常检测
2026-09-24 18:01:33 +0800415353f9bd56d9e0a9eacc20eea4a249671e62ba:new: 增加对4轮的速度异常检测editloc/lidar/src/data_interface.cppeditloc/test/test_data_interface.cppeditloc/lidar/src/data_interface.haddloc/param/lidar_loc_v2_node.vehicle_youyiguan.yamleditloc/app/lidar_loc_v2_node_impl.cppdeleteloc/param/lidar_loc_v2_node.vehicle_zhenshi.yamleditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/param/reflect_match/zhenshi/mrpt_icp.yamleditloc/param/reflect_match/zhenshi/feature.yaml
- loc/param/lidar_loc_v2_node.vehicle.yamlloc/param/reflect_match/yangpu/mrpt_icp.yamlloc/fusion/zupt_check.hloc/param/lidar_loc_v2_node.vehicle_yangpu.yamlloc/param/reflect_match/yangpu/region.yamlloc/param/reflect_match/yangpu/feature.yamlloc/param/lidar_loc_v2_node.vehicle_jinxi.yamlloc/param/reflect_match/yangpu/mask.yamlloc/fusion/zupt_check.cpploc/launch/lidar_loc_v2_node.rvizloc/test/test_zupt_static_decision.cpploc/test/CMakeLists.txtloc/param/lidar_loc_v2_node.yamlloc/param/lidar_loc_v2_node.vehicle_zhenshi.yaml6e99644d40d37ee2b8100f5a0a383f2ce303e43a1790651139000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 增加严格静止逻辑
2026-09-29 11:05:39 +08006e99644d40d37ee2b8100f5a0a383f2ce303e43a:new: 增加严格静止逻辑editloc/fusion/zupt_check.cppeditloc/launch/lidar_loc_v2_node.rvizdeleteloc/param/lidar_loc_v2_node.vehicle_yangpu.yamleditloc/param/lidar_loc_v2_node.vehicle_jinxi.yamleditloc/param/lidar_loc_v2_node.yamleditloc/param/reflect_match/yangpu/mrpt_icp.yamleditloc/fusion/zupt_check.haddloc/test/test_zupt_static_decision.cppeditloc/param/reflect_match/yangpu/region.yamleditloc/param/reflect_match/yangpu/mask.yamleditloc/test/CMakeLists.txtaddloc/param/lidar_loc_v2_node.vehicle_zhenshi.yamleditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/param/reflect_match/yangpu/feature.yaml
- loc/lidar/reflect_match/registration/mrpt_icp.hloc/param/lidar_loc_v2_node.vehicle.yamlloc/app/lidar_loc_v2_node_impl.cppupdate/manage/dynamic_map_manage.cpploc/param/reflect_match/yangpu/mrpt_icp.yamlloc/param/reflect_match/yangpu/region.yamlloc/lidar/reflect_match/registration/mrpt_icp.cpploc/lidar/reflect_match/region/region_maintainer.cpploc/param/reflect_match/yangpu/mask.yamlloc/lidar/src/lidar_manage.cppc47a6bbce6c57bd31d3a088394f781f5a8ee4a8f1791771485000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto:new: 新增跳变抑制,修改状态5的得分判据,必须大于0.6
2026-10-12 10:18:05 +0800c47a6bbce6c57bd31d3a088394f781f5a8ee4a8f:new: 新增跳变抑制,修改状态5的得分判据,必须大于0.6editloc/lidar/reflect_match/registration/mrpt_icp.cppeditupdate/manage/dynamic_map_manage.cppeditloc/lidar/reflect_match/region/region_maintainer.cppeditloc/lidar/reflect_match/registration/mrpt_icp.heditloc/param/reflect_match/yangpu/mrpt_icp.yamleditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/param/reflect_match/yangpu/mask.yamleditloc/lidar/src/lidar_manage.cppeditloc/app/lidar_loc_v2_node_impl.cppeditloc/param/reflect_match/yangpu/region.yaml
- loc/lidar/src/data_interface.cpploc/param/lidar_loc_v2_node.vehicle.yamlloc/app/lidar_loc_v2_node_impl.cpploc/lidar/src/data_interface.hloc/param/lidar_loc_v2_node.vehicle_weihai.yamlloc/param/lidar_loc_v2_node.vehicle_yangpu.yamlcommon/util/ship_entrance_ground_anchor.cpploc/param/lidar_loc_v2_node.vehicle_jinxi.yamlloc/param/reflect_match/jinxi/region.yamlloc/param/reflect_match/jinxi/mask.yamlloc/fusion/msf_wrapper.hloc/test/test_data_interface.cpploc/param/reflect_match/jinxi/mrpt_icp.yamlcommon/util/ship_entrance_ground_anchor.hloc/fusion/msf_wrapper.cpploc/lidar/reflect_match/feature/feature_extractor.cpp6609e90916882dad4470683f2d5e2bd7d2978f5c1791880317000http://159.27.114.184:8080/jenkins/user/liuyangliuyangliuyang@senior.auto: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
2026-10-13 16:31:57 +08006609e90916882dad4470683f2d5e2bd7d2978f5c: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editcommon/util/ship_entrance_ground_anchor.cppdeleteloc/param/lidar_loc_v2_node.vehicle_jinxi.yamleditloc/fusion/msf_wrapper.heditloc/param/reflect_match/jinxi/mrpt_icp.yamladdloc/param/lidar_loc_v2_node.vehicle_yangpu.yamleditloc/test/test_data_interface.cppeditloc/lidar/src/data_interface.heditloc/param/lidar_loc_v2_node.vehicle_weihai.yamleditcommon/util/ship_entrance_ground_anchor.heditloc/fusion/msf_wrapper.cppeditloc/param/reflect_match/jinxi/mask.yamleditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/app/lidar_loc_v2_node_impl.cppeditloc/lidar/src/data_interface.cppeditloc/param/reflect_match/jinxi/region.yamleditloc/lidar/reflect_match/feature/feature_extractor.cpp
githttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonghttp://159.27.114.184:8080/jenkins/user/tangxiaotangxiaohttp://159.27.114.184:8080/jenkins/user/liuyangliuyang316http://159.27.114.184:8080/jenkins/job/orin-slave64/316/