Commit
1d60ba50957ccab5bed7ff81495dbcfc855b6d67
by tangxiaonote_out:自车重叠过滤类别加入car.
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 | perception/dl_detection/lidar/include/dld_pre_suf_set/dld_filter_sets.h |
Commit
6f6ebf2529809ab20700ab681daba7e2bd66db4d
by lanxiaosongadd whztlj map
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 | perception/dl_detection/params/map/perception_map_ztlj.png |
Commit
0cacd59a3fd8755dd28eb8c637d3e87514b9d715
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp |
| perception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp |
Commit
5a6d46103fc32461ddaad78b2b48b7cf28c2974e
by liuwenjing后雷达不合并入总，仅在构建栅格时转系使用
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| perception/dl_detection/lidar/include/dld_data_provider.h |
| perception/dl_detection/lidar/impl/dld_suf_impl.cpp |
| perception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp |
Commit
8726cb4f52ec92830434af0212156cf0bcf753f9
by tangxiaonote_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
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| perception/common/common_types.h |
| perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.h |
| perception/dl_detection/common/dld_params_config.h |
| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
| perception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp |
Commit
5dfe659db7c979e299d7f977165a9823f3a51da5
by tangxiaonote_out:模型子模块指向f0071fd(洋浦cp_base_hnyp_ft_new17 epoch_10,青岛cp_agn)
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| perception/dl_detection/params/model |
Commit
71c9c8f5670a19639e04a6bd1cbfdfd7475d5e19
by liuwenjing后雷达点云异常报警改INFO
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 | perception/dl_detection/params/obstacle_detection_param_zh.yaml |
| perception/ground_segmentation/params/seg_error_code_config.yaml |
| perception/dl_detection/params/obstacle_detection_param_dx.yaml |
| perception/dl_detection/params/obstacle_detection_param_ts.yaml |
| perception/dl_detection/params/obstacle_detection_param_imv.yaml |
Commit
70fa03e4db043d8184de352d9732d19c6a1ebeac
by tangxiaonote_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.
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| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
Commit
ef5d3a302dc7beb847123fa306c320f8c0c08b1f
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp |
Commit
7b696bd3c1a1abe3957204f6b3db9752fce74771
by liuwenjingNROI为空后，清空变量避免复用前帧结果
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| perception/ground_segmentation/services/impl/seg_transform_step.cpp |
Commit
af5220288a1fc25d448000b9add51070a3b63fb7
by liuwenjing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
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| perception/ground_segmentation/common/data_injector.h |
| perception/ground_segmentation/common/data_injector.cpp |
| perception/ground_segmentation/services/impl/seg_transform_step.cpp |
| perception/ground_segmentation/services/impl/seg_ground_step.cpp |
| perception/dl_detection/services/impl/dld_subscriber.cpp |
| perception/ground_segmentation/components/seg_obstacle.cpp |
| perception/ground_segmentation/services/impl/seg_obstacle_step.cpp |
| perception/lib/geometry/ransac_plane.h |
| perception/lib/geometry/ransac_plane.cpp |
| perception/ground_segmentation/components/seg_fusion.cpp |
Commit
2423be1d6689f4095cb0be0889b178803deb5d94
by liuwenjingseg后obj点数为0时报警
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| perception/ground_segmentation/params/seg_error_code_config.yaml |
Commit
cff428f9a165b945e66c1f95fa1a53cdcfd17fd7
by liuwenjingrectified为空时才报警
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| perception/ground_segmentation/params/seg_error_code_config.yaml |
| perception/ground_segmentation/services/impl/seg_obstacle_step.cpp |
Commit
acf166e1b3d73d19a4e8c6541d3f42e32f4578e6
by tangxiaonote_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.
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| perception/dl_detection/params/model |
Commit
a1d3c8fcbed504c986dbdc37919dd71d5a1db6b0
by tangxiaonote_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
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| perception/dl_detection/common/dld_params_config.h |
| perception/dl_detection/lidar/include/dld_data_provider.h |
| perception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h |
| perception/common/common_types.h |
| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
| perception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp |
Commit
6142bc6445262a84868d6c15df410cea7d309d3c
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
Commit
d2f5b5301f8945508de97b73d2813a42529ea62a
by tangxiaonote_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
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| perception/ground_segmentation/common/grd_utils.cpp |
| perception/ground_segmentation/common/publisher_utils.h |
| perception/ground_segmentation/services/seg_obstacle_step.h |
| perception/ground_segmentation/services/impl/seg_obstacle_step.cpp |
| perception/ground_segmentation/common/basic_types.h |
Commit
dea03a5bb9cbf41b46d80af85c9ebd21c1eae3db
by liuwenjing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
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| perception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp |
| perception/dl_detection/lidar/include/dld_data_provider.h |
| perception/dl_detection/common/dld_params_config.h |
Commit
6976c6208498011b1bdf86b3a0086e6455ec8ab4
by tangxiaonote_out:删除seg后向og迁移后残留的output_og_flag注释和plantuml里seg的PublishOgMsg
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| doc/ground_segmentation.plantuml |
| perception/dl_detection/common/dld_params_config.h |
Commit
d149b7e261c46e8edd772520b0faea20695b04a1
by tangxiaonote_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
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| perception/dl_detection/common/dld_params_config.h |
| perception/dl_detection/lidar/include/dld_data_provider.h |
| perception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp |
| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
| perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.h |
| perception/common/common_types.h |
| perception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp |
| perception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp |
Commit
096918c99e3c782155732a4007778aa014a4d15d
by tangxiaonote_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
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| perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.h |
| perception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp |
| perception/ground_segmentation/services/seg_ground_alg_plus.h |
| perception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp |
| perception/dl_detection/lidar/include/dld_data_provider.h |
| perception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp |
Commit
2630465546c3fc04c43ff5015e376bf474c1ab75
by tangxiaonote_out:路沿栅格key改为无符号移位
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| perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.h |
| perception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp |
Commit
ec999d9c6f2496e485d13de088394b685c13d82d
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp |
Commit
2921383d0de4c209e4b8ae44f2037d91833f60bd
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp |
| perception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp |
Commit
330eb63d4f536fd9396157d226bf948c01ae1ae6
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp |
Commit
1ebce6403735da1cbda8286bde9bc5539e2a7cc0
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
Commit
529736f3e57e45d3206c025d599ffd045c8a5321
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp |
| perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h |
Commit
fca65dda09ac6eda693e5365ab573ba08a7b05d5
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp |
| perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp |
Commit
39acc5c438acab4308abe97e01e85ab18c8a4c20
by tangxiaonote_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
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| perception/ground_segmentation/services/impl/seg_ground_fit.cpp |
Commit
90f2ed8248e6b96a0d84e2dc594b2697f2b8d469
by tangxiaonote_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
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| perception/ground_segmentation/services/impl/seg_ground_fit.cpp |
Commit
822edd4a7e50a1e85fa0f257bafed9a1982e0aab
by tangxiaonote_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
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| perception/dl_detection/common/dld_params_config.h |
| perception/common/common_types.h |
| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
Commit
5c16cfee8b04f67c82594f1e7d6e3bd98549e040
by tangxiaonote_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
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| perception/common/common_types.h |
| perception/dl_detection/common/dld_params_config.h |
| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
Commit
2c3ae145c1507f033153a4a524114cad58b69a03
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
| perception/dl_detection/common/dld_params_config.h |
| perception/common/common_types.h |
Commit
6c7f86a055711586227be1b27a075e52485508ce
by tangxiaonote_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
|
| perception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp |
Commit
d16789a5a3e22b14a268c171124addd95e1fcaf4
by tangxiaonote_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
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| perception/dl_detection/common/dld_params_config.h |
| perception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp |
| perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.h |
| perception/common/common_types.h |
Commit
38d16c1863f956d222eed9a4236008abcb7752d2
by tangxiaonote_out:dld模型初始化期间发302011,TensorRT cache写失败发302012
|
| perception/dl_detection/params/det_error_code_config.yaml |
| perception/dl_detection/lidar/impl/dld_inference_processor.cpp |
| perception/dl_detection/CMakeLists.txt |
| perception/dl_detection/lidar/include/dld_inference_processor.h |
Commit
7df37ac57700bbae395a06ddff06fc55b900c81b
by tangxiaonote_out:模型子模块指向烟台NMS_BOARD打开car压pedestrian
|
| perception/dl_detection/params/model |
Commit
cdc9c505b1cecf9469c185a5fc074d7c29ae6da7
by tangxiaonote_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
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| perception/ground_segmentation/common/basic_types.h |
| perception/ground_segmentation/services/impl/seg_ground_step.cpp |
| perception/ground_segmentation/services/seg_ground_step.h |
| perception/ground_segmentation/common/grd_utils.cpp |
Commit
d3e898f2e216b9f59ae04d805a5885a1734c6131
by tangxiaonote_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
|
| perception/dl_detection/lidar/include/dld_pointcloud_filter_processor.h |
| perception/dl_detection/lidar/impl/dld_pointcloud_filter_processor.cpp |
Commit
37d6e26a9507b369c02ca10c6744bad3287779f1
by tangxiaonote_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
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| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
Commit
88db1934728508a526885959f94b0b7c17923649
by tangxiaonote_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
|
| perception/dl_detection/common/dld_params_config.h |
| perception/common/common_types.h |
| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
Commit
13d7dbc1ed35798133f9b2e53ee0f691a922c517
by tangxiaonote_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
|
| perception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp |
Commit
31fbaf5ae420872fc0afaa71b2052251a4baf927
by tangxiaonote_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
|
| perception/dl_detection/utils/dld_map_mask_util.cpp |
Commit
530fe31f0ec4fd1eea9a846eaa8a89884cc2afcb
by tangxiaonote_out:dld地图补单像素0值缝改为pre_cloud.fill_map_zero_gap控制,缺省关
|
| perception/common/common_types.h |
| perception/dl_detection/utils/dld_map_mask_util.cpp |
| perception/dl_detection/lidar/impl/dld_lidar_detection.cpp |
| perception/dl_detection/utils/dld_map_mask_util.h |
| perception/dl_detection/common/dld_params_config.h |
Commit
23488d768911eca8063f02ed5551e7f6874ca80d
by tangxiaonote_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
|
| perception/dl_detection/lib/pointpillars |
| perception/dl_detection/CMakeLists.txt |
| perception/dl_detection/lib/centerpoint |
| perception/dl_detection/lidar/impl/dld_inference_processor.cpp |
Commit
35f4af21ebfb02761e5878d90f7800a238280170
by tangxiaonote_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
|
| perception/dl_detection/common/dld_params_config.h |
| perception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp |
| perception/common/common_types.h |
| perception/dl_detection/lidar/impl/dld_og_around_impl.cpp |
Commit
c5bcbb1df95d560159a768c6c3ccd6295aa499b4
by tangxiaonote_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
|
| perception/dl_detection/lib/centerpoint |
| perception/dl_detection/lib/pointpillars |
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