orinslaveconfListGet-BranchsconfCould not get conf for 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2026-08-12 03:43:44 +00009df77fead0f3ed7d3debc9faadc8e54b0e0ba13bUpdate polaris.jenkinsfileedithardware/polaris.jenkinsfile
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2026-08-12 03:44:29 +000001bce7d15ff85890aafd509a99270dabc1206b50Update tc397_ota.jenkinsfileedithardware/tc397_ota.jenkinsfile
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2026-08-12 03:45:17 +0000aa9e09286014137966e69d6f3434fa2509faa446Update hdmap-cloud.jenkinsfileedithdmap/hdmap-cloud.jenkinsfile
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2026-08-12 09:29:30 +00005a88a9b6a5620171ede7924afb9741e9279e6bc9Update map-png.jenkinsfileedithdmap/map-png.jenkinsfile
git- perception/dl_detection/lib/pointpillarsperception/dl_detection/lib/CMakeLists.txtperception/dl_detection/lib/centerpointconf/perception_imv.rvizb25dfba226d9aa3dd14981214a21ef62f868c3931782128382000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autofeat(trt10): 引入 BUILD_TRT10 编译开关, 适配 x86 Blackwell + TRT10 环境
CMakeLists 增加 option(BUILD_TRT10), 默认 OFF:
- OFF (默认): GPU 架构 = 原 SMS 列表 (30 32 35 37 50 52 53 60 61 62 70 72 75 87),
行为与改动前完全一致, Orin/Xavier/老 x86 部署不受影响.
- ON : GPU 架构 = sm_120 (RTX 50xx Blackwell), 同名宏 BUILD_TRT10 自动注入
C/C++ 和 NVCC, 子模块通过 add_subdirectory 继承.
源码侧走 TRT10 新 API (delete / setMemoryPoolLimit / enqueueV3 +
setTensorAddress / setInputShape 等), 见 centerpoint/pointpillars
submodule 同名 commit.
子模块指针更新:
- centerpoint -> 068e2dd (cp_lib)
- pointpillars -> af67324 (dev)
同时纳入本机 RViz 视图配置: conf/perception_imv.rviz.
使用:
catkin build # 老环境, 行为不变
catkin build --cmake-args -DBUILD_TRT10=ON # 本机 Blackwell+TRT10
Co-authored-by: Cursor <cursoragent@cursor.com>
2026-06-22 19:39:42 +0800b25dfba226d9aa3dd14981214a21ef62f868c393feat(trt10): 引入 BUILD_TRT10 编译开关, 适配 x86 Blackwell + TRT10 环境editperception/dl_detection/lib/pointpillarseditperception/dl_detection/lib/CMakeLists.txteditconf/perception_imv.rvizeditperception/dl_detection/lib/centerpoint
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/doc/container_face_angle.mdperception/dl_detection/lidar/impl/dld_trailer_calculator.cppperception/dl_detection/CMakeLists.txtperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calculator.hperception/common/common_types.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hconf/perception_imv.rvizf210ae0f2babe793a0b5b20443ead46c420e65ce1782315622000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂角度校正添加箱体面估计新算法.
2026-06-24 23:40:22 +0800f210ae0f2babe793a0b5b20443ead46c420e65cenote_out:车挂角度校正添加箱体面估计新算法.addperception/dl_detection/lidar/doc/container_face_angle.mddeleteperception/dl_detection/lidar/impl/dld_trailer_calculator.cppeditperception/common/common_types.heditperception/dl_detection/common/dld_params_config.heditconf/perception_imv.rvizdeleteperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calculator.heditperception/dl_detection/CMakeLists.txteditperception/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/doc/container_face_angle.mdperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h150f7c3a6d00ecc7a545118c4ac52c35b533a9ca1782356639000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂角度校正箱体面算法修改.
2026-06-25 11:03:59 +0800150f7c3a6d00ecc7a545118c4ac52c35b533a9canote_out:车挂角度校正箱体面算法修改.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/doc/container_face_angle.mdeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/common/common_types.hperception/dl_detection/lidar/doc/container_face_angle.md6ef466422ea31daa3b2862d33dd856a726de0ebb1782361251000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂角度校正日志和显示修改.
2026-06-25 12:20:51 +08006ef466422ea31daa3b2862d33dd856a726de0ebbnote_out:车挂角度校正日志和显示修改.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/common/common_types.heditperception/dl_detection/lidar/doc/container_face_angle.mdeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.gitignoreperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/doc/container_face_angle.mdperception/common/common_types.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h61a9c18a18f3bd0e3d1a69cff0b382e7c8d5174d1782378756000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:前箱面由小格选单点变为选一定范围内的点.
2026-06-25 17:12:36 +080061a9c18a18f3bd0e3d1a69cff0b382e7c8d5174dnote_out:前箱面由小格选单点变为选一定范围内的点.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/common/common_types.hedit.gitignoreeditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/doc/container_face_angle.mdeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/common/dld_params_config.h
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppb504a616b6ebc079e6c56ece1054295f0a3670c51782382890000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度.
2026-06-25 18:21:30 +0800b504a616b6ebc079e6c56ece1054295f0a3670c5note_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.bak_expandfixperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp3a8d5bad7582b4baed5156f411632cd8b15cfb311782395069000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度,适配小角度计算方法.
2026-06-25 21:44:29 +08003a8d5bad7582b4baed5156f411632cd8b15cfb31note_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度,适配小角度计算方法.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.haddperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.bak_expandfixeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.bak_expandfixbbcc5cad36d670e5bfa584dbbdf07c9e752e08da1782395243000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度,适配小角度计算方法.
2026-06-25 21:47:23 +0800bbcc5cad36d670e5bfa584dbbdf07c9e752e08danote_out:车挂校正无可靠初始角度时搜索挂前沿侧面计算粗糙参考角度,适配小角度计算方法.deleteperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp.bak_expandfix
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator_by_container.hperception/dl_detection/lidar/impl/dld_trailer_calibrator_by_container.cpp.gitignoreperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h3b43ea991805034088274a4115cd3d495aa62ec51782439620000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:恢复误删除的车挂显示相关topic&&拆分dld_trailer_calibrator.cpp中两个类到两个单独的文件.
2026-06-26 10:07:00 +08003b43ea991805034088274a4115cd3d495aa62ec5note_out:恢复误删除的车挂显示相关topic&&拆分dld_trailer_calibrator.cpp中两个类到两个单独的文件.edit.gitignoreeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppaddperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator_by_container.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.haddperception/dl_detection/lidar/impl/dld_trailer_calibrator_by_container.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator_by_container.hperception/dl_detection/lidar/impl/dld_trailer_calibrator_by_container.cpp171fd1314f696f7b19850c94412ff0177dc969ae1782441898000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改enable_expand_filter_用法.
2026-06-26 10:44:58 +0800171fd1314f696f7b19850c94412ff0177dc969aenote_out:修改enable_expand_filter_用法.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator_by_container.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator_by_container.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp8c34332940e93a15b5aa2e5d3d91cd5040101e881782443196000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:增加各来源角度框的可视化.
2026-06-26 11:06:36 +08008c34332940e93a15b5aa2e5d3d91cd5040101e88note_out:增加各来源角度框的可视化.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppc4cb84808b70fd39a6effb1c1326f20e2fdd23231782458658000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:无参考角度初始角度估计优化.
2026-06-26 15:24:18 +0800c4cb84808b70fd39a6effb1c1326f20e2fdd2323note_out:无参考角度初始角度估计优化.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h7dfab4a0c240b9c01bed2b93863184fb6a2addd21782550243000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:无参考角度时车挂角度搜索第二套方法.
2026-06-27 16:50:43 +08007dfab4a0c240b9c01bed2b93863184fb6a2addd2note_out:无参考角度时车挂角度搜索第二套方法.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_noise_filter.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_noise_filter.h22c5f3569b68280258bbbe69af5e64957d11bb2a1782799317000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修复无车周点时NoiseFilter车周栅格不更新空置状态的bug.
2026-06-30 14:01:57 +080022c5f3569b68280258bbbe69af5e64957d11bb2anote_out:修复无车周点时NoiseFilter车周栅格不更新空置状态的bug.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_noise_filter.heditperception/dl_detection/lidar/impl/dld_noise_filter.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp94dd94dc0888b58605747708c7557f8b7d09a56a1782804291000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:过滤岸桥轨道上的沟沿误检.
2026-06-30 15:24:51 +080094dd94dc0888b58605747708c7557f8b7d09a56anote_out:过滤岸桥轨道上的沟沿误检.editperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.h
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppde16eb585abbefe5f682971819e8631c18900b261782886502000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:第二套无参考初始挂角查找优化.
2026-07-01 14:15:02 +0800de16eb585abbefe5f682971819e8631c18900b26note_out:第二套无参考初始挂角查找优化.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppa49bdbec5501c6d3d8dc3a1bb7aea121113757841782888549000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autotrailer front-edge: fix large-angle misclassify + logging + micro-opt
- classify: replace |dx|vs|dy| small-angle heuristic with two-hypothesis
(along/normal) picked by |y_tr| closeness to half-width; kills spurious
+90deg at large trailer angles
- add z-band gate to reject cargo-box side face (out of baffle height band)
- selection by |y_tr|-to-half-width instead of longest extent
- angle-compare log: initial_baffle / initial_front_edge / revised / ekf / detect
- micro-opt: consider() takes precomputed fit (drop duplicate LS on single
segment path); reserve cell vectors; std::move cell idx
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-01 14:49:09 +0800a49bdbec5501c6d3d8dc3a1bb7aea12111375784trailer front-edge: fix large-angle misclassify + logging + micro-opteditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppc148e48894e3defac8dd0ba213ae854c37f88d3a1782888781000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autotrailer front-edge batch1: box-face channel + z-classification + fusion
Treat box/body front face (tall grid cells above baffle height band) as a
second, parallel estimator of the same trailer angle instead of discarding it:
- consider_box(): route runs whose z-top exceeds the baffle band to a
box-face candidate; long straight wall -> dominant-axis classify
(normal at small angle, along at large), keep the longest wall
- fusion: prefer baffle (on-target height); fall back to box-face angle only
when baffle route finds nothing (e.g. loaded trailer, baffle occluded) ->
recovers cases that previously abstained (a7)
- logging: per-candidate cand-box line; fuse line with th_baffle/th_box/src/out;
RESULT now tags src=baffle|boxface
- viz/out use fused final_a/final_b/final_side
NOTE: not compile-verified in this environment (needs project Docker build).
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-01 14:53:01 +0800c148e48894e3defac8dd0ba213ae854c37f88d3atrailer front-edge batch1: box-face channel + z-classification + fusioneditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp993fd25cb44fe78e6177d342d84ff7bc776268541782889047000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autotrailer front-edge batch2: raw-point fit + dual-side pooling + y-geo + confidence
- fit_raw(): LS over raw points of the chosen segment (not the 4 grid
centroids) to suppress the per-column max-x quantization bias that drove
the ~-7deg systematic error at small angle (a4/a6)
- dual-side pooling: gather baffle-height cells L/R, sum per-side de-meaned
covariances -> shared face direction (does NOT connect the two centroids,
so it is immune to the cross-side motion-compensation x offset); used to
refine short baffle segments
- y-position geometric fallback: cosθ=(cyL-cyR)/(2w) from known half-width,
y-only (avoids polluted x); logged (sensitive at large angle only)
- confidence scalar per source; logged in fuse/RESULT
- new logs: batch2 pool (nL/nR/th_pool/th_geo_mag), batch2 refine
(th_centroid/th_raw/th_pool/use_pool)
Behavior change (intended): baffle final angle now comes from raw-point fit,
or dual-side pool for short segments.
NOTE: not compile-verified in this environment (needs project Docker build).
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-01 14:57:27 +0800993fd25cb44fe78e6177d342d84ff7bc77626854trailer front-edge batch2: raw-point fit + dual-side pooling + y-geo + confidenceeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp.gitignore604f3af72501ca145261c00bb9c3c69fbd75bebf1782892207000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:宝世顺去铁轨矮草散点.
2026-07-01 15:50:07 +0800604f3af72501ca145261c00bb9c3c69fbd75bebfnote_out:宝世顺去铁轨矮草散点.edit.gitignoreeditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppc5c1c4aa9cd5bcb4cc168e58b3f4253a7d4e82771782896387000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台高柱检出区对行人标记为地图外.
2026-07-01 16:59:47 +0800c5c1c4aa9cd5bcb4cc168e58b3f4253a7d4e8277note_out:烟台高柱检出区对行人标记为地图外.editperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h9cf0f88238a4743e0c5443d7ce7e8dec03dbfbe41782905202000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 矮柱近邻查找增加质心距离约束.
2026-07-01 19:26:42 +08009cf0f88238a4743e0c5443d7ce7e8dec03dbfbe4note_out: 矮柱近邻查找增加质心距离约束.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/impl/dld_og_around_impl.cpp3e05f34a15a00748a015c15b01e925215d5521451782905698000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 矮柱近邻查找质心距离约束0.2->0.25.
2026-07-01 19:34:58 +08003e05f34a15a00748a015c15b01e925215d552145note_out: 矮柱近邻查找质心距离约束0.2->0.25.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/impl/dld_og_around_impl.cpp.bak_pillardbgperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.he58d26eb2ccba90e35199f64bab39d2fd95a8fbf1782971852000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改高柱栅格标记时域确认方式.
2026-07-02 13:57:32 +0800e58d26eb2ccba90e35199f64bab39d2fd95a8fbfnote_out:修改高柱栅格标记时域确认方式.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppaddperception/dl_detection/lidar/impl/dld_og_around_impl.cpp.bak_pillardbgeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp.bak_pillardbgd7255582c9247a3a513aae17a7b649c8b4b3ce791782971869000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改高柱栅格标记时域确认方式.
2026-07-02 13:57:49 +0800d7255582c9247a3a513aae17a7b649c8b4b3ce79note_out:修改高柱栅格标记时域确认方式.deleteperception/dl_detection/lidar/impl/dld_og_around_impl.cpp.bak_pillardbg
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hadc0971d9184636224eec71ec82d2d563dfe497d1782974222000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:高柱历史信息记录标记使用时间戳而非帧计数.
2026-07-02 14:37:02 +0800adc0971d9184636224eec71ec82d2d563dfe497dnote_out:高柱历史信息记录标记使用时间戳而非帧计数.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_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppc28e223f7ecd9b75b8e841f5e109a5f1aaf0d1971782996932000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:无初始角度适配小角度.
2026-07-02 20:55:32 +0800c28e223f7ecd9b75b8e841f5e109a5f1aaf0d197note_out:无初始角度适配小角度.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppf44deee08ac66081f464f97c6e139193fc47c6481783040861000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:删除第一种求初始角度方法.
2026-07-03 09:07:41 +0800f44deee08ac66081f464f97c6e139193fc47c648note_out:删除第一种求初始角度方法.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp3ed18e667347bdd2aefeb08bf8461e50a24cc8311783082842000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:初始角度查找.
2026-07-03 20:47:22 +08003ed18e667347bdd2aefeb08bf8461e50a24cc831note_out:初始角度查找.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppc74d30ba8feb5b26d57fd0adda237206612317ed1783344172000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改暂存.
2026-07-06 21:22:52 +0800c74d30ba8feb5b26d57fd0adda237206612317ednote_out:修改暂存.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp0c452d76483bcf93c0339ecced5e0d351524f7881783414502000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto龙须点里不满足细线的点抛弃
2026-07-07 16:55:02 +08000c452d76483bcf93c0339ecced5e0d351524f788龙须点里不满足细线的点抛弃editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- 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_detection_tracking_processor.cppperception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppd8566320b9abb4a995430bf4e02f08b995d7ba101783415701000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台增加立体车库防护功能:高墙面拟合输出110点.
2026-07-07 17:15:01 +0800d8566320b9abb4a995430bf4e02f08b995d7ba10note_out:烟台增加立体车库防护功能:高墙面拟合输出110点.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppeditperception/dl_detection/lidar/include/dld_data_provider.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppd609bd5e22e2e69626c9d776f35855c489ac87d21783420946000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto龙须点线粗细约束&&x向和z向的离群值剔除
2026-07-07 18:42:26 +0800d609bd5e22e2e69626c9d776f35855c489ac87d2龙须点线粗细约束&&x向和z向的离群值剔除editperception/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.cppce780e4d857cf961bc78fe5ecfeffb238223de071783424576000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:大榭像素42区域低矮障碍物点加入102点.
2026-07-07 19:42:56 +0800ce780e4d857cf961bc78fe5ecfeffb238223de07note_out:大榭像素42区域低矮障碍物点加入102点.editperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/common/dld_params_config.h
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp0e7fe849120badb96e60970b8b1b4162b4767aab1783488783000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:无初始角度时估计车挂初始角度v3最终版.
2026-07-08 13:33:03 +08000e7fe849120badb96e60970b8b1b4162b4767aabnote_out:无初始角度时估计车挂初始角度v3最终版.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp6fc6595914a0479803f2fbf646d74ca92c984af91783491643000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:调节箱面角度的置信度.
2026-07-08 14:20:43 +08006fc6595914a0479803f2fbf646d74ca92c984af9note_out:调节箱面角度的置信度.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp98da2b6285f63d72593fdeac0b8e758bdce4056a1783495258000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:双侧挡流板面拟合角度值相互校验条件放松.
2026-07-08 15:20:58 +080098da2b6285f63d72593fdeac0b8e758bdce4056anote_out:双侧挡流板面拟合角度值相互校验条件放松.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp1647ebe4c60ed3f92a5fca9e760cdc48d428556b1783496936000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车挂日志打印条件修改.
2026-07-08 15:48:56 +08001647ebe4c60ed3f92a5fca9e760cdc48d428556bnote_out:车挂日志打印条件修改.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp8d6c69e459f8be7329557db7f2786d048b8312ad1783497617000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:恢复仅无初始车挂角时才调用周围搜索.
2026-07-08 16:00:17 +08008d6c69e459f8be7329557db7f2786d048b8312adnote_out:恢复仅无初始车挂角时才调用周围搜索.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- "dld_trailer_calibrator\344\274\230\345\214\226\346\270\205\345\215\225.md"perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/common/common_types.h4169003e83b1b19b7ebf35aafb974d69e8f8dc141783510267000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.
2026-07-08 19:31:07 +08004169003e83b1b19b7ebf35aafb974d69e8f8dc14note_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hadd"dld_trailer_calibrator\344\274\230\345\214\226\346\270\205\345\215\225.md"editperception/common/common_types.h
- "dld_trailer_calibrator\344\274\230\345\214\226\346\270\205\345\215\225.md"340b7bd70a1a86ce12b2826e2919ee1c539b91371783510309000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.
2026-07-08 19:31:49 +0800340b7bd70a1a86ce12b2826e2919ee1c539b9137note_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.delete"dld_trailer_calibrator\344\274\230\345\214\226\346\270\205\345\215\225.md"
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppc48305a611e75cbc9482eb185b4baa9efafd31b11783522404000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:参数修改.
2026-07-08 22:53:24 +0800c48305a611e75cbc9482eb185b4baa9efafd31b1note_out:参数修改.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp7957ecd966565c5c0e479d2ee67778b96c8b36ab1783526367000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@denior.autonote_out:增加箱体面计算挂角的注释.
2026-07-08 23:59:27 +08007957ecd966565c5c0e479d2ee67778b96c8b36abnote_out:增加箱体面计算挂角的注释.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp74603f14be3460fb818962e981ccc1e826f456611783571545000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:拟合改为pca,增加箱体面角度y向箱宽校验.
2026-07-09 12:32:25 +080074603f14be3460fb818962e981ccc1e826f45661note_out:拟合改为pca,增加箱体面角度y向箱宽校验.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- doc/trailer_angle_log_analysis_a1a9_20260709.mdperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp2cb3e42ded2425b88a3c6706edc0d550c321e3181783578330000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:pca去噪点改为单次.
2026-07-09 14:25:30 +08002cb3e42ded2425b88a3c6706edc0d550c321e318note_out:pca去噪点改为单次.adddoc/trailer_angle_log_analysis_a1a9_20260709.mdeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hdoc/trailer_angle_log_analysis_a1a9_20260709.mdperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp7b9576dd4be88ea2f09ffaaa4443e81fc3e96bed1783580169000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:调试日志,topic清理和隐藏.
2026-07-09 14:56:09 +08007b9576dd4be88ea2f09ffaaa4443e81fc3e96bednote_out:调试日志,topic清理和隐藏.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hdeletedoc/trailer_angle_log_analysis_a1a9_20260709.mdeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/common/common_types.he115495f9fb7c7011e95e0f9b7ef262ab5fd43581783590982000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:箱面半宽调整.
2026-07-09 17:56:22 +0800e115495f9fb7c7011e95e0f9b7ef262ab5fd4358note_out:箱面半宽调整.editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/ground_segmentation/services/seg_obstacle_step.hperception/ground_segmentation/common/data_injector.cppperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppperception/ground_segmentation/components/seg_obstacle.cppperception/ground_segmentation/components/seg_ground.cppperception/ground_segmentation/services/seg_ground_alg_plus.hperception/ground_segmentation/common/basic_types.hperception/ground_segmentation/common/grd_utils.cppperception/ground_segmentation/services/impl/seg_obstacle_step.cppperception/ground_segmentation/services/impl/seg_ground_step.cppperception/ground_segmentation/common/data_injector.hperception/ground_segmentation/services/seg_ground_step.h1f1de8a5a04bdfabea348e7a05d980db2407614b1783677573000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:坑洼检测地面分割后处理: 突变点检测,地面地下点粗标签标记.
2026-07-10 17:59:33 +08001f1de8a5a04bdfabea348e7a05d980db2407614bnote_out:坑洼检测地面分割后处理: 突变点检测,地面地下点粗标签标记.editperception/ground_segmentation/components/seg_ground.cppeditperception/ground_segmentation/services/seg_ground_alg_plus.heditperception/ground_segmentation/services/impl/seg_obstacle_step.cppeditperception/ground_segmentation/common/data_injector.heditperception/ground_segmentation/common/basic_types.heditperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppeditperception/ground_segmentation/components/seg_obstacle.cppeditperception/ground_segmentation/services/seg_ground_step.heditperception/ground_segmentation/common/grd_utils.cppeditperception/ground_segmentation/services/seg_obstacle_step.heditperception/ground_segmentation/common/data_injector.cppeditperception/ground_segmentation/services/impl/seg_ground_step.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.haf602919b9646bbc97589bb35f7c4ce275a009d91783682548000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto围栏点也经龙须点筛选标记
2026-07-10 19:22:28 +0800af602919b9646bbc97589bb35f7c4ce275a009d9围栏点也经龙须点筛选标记editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.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.h873ef82b3becd4d285d92c297366b0649a51bda11783685437000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto参数控制是否使用“收紧龙须点”的规则，洋浦不收紧
2026-07-10 20:10:37 +0800873ef82b3becd4d285d92c297366b0649a51bda1参数控制是否使用“收紧龙须点”的规则，洋浦不收紧editperception/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.cppperception/ground_segmentation/services/seg_ground_alg_plus.h97ac2b432c9dbb1c02cd7aebb0f40e1da7fc9ffe1783687258000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 优化地面分割后处理:聚类和分类逻辑优化.
2026-07-10 20:40:58 +080097ac2b432c9dbb1c02cd7aebb0f40e1da7fc9ffenote_out: 优化地面分割后处理:聚类和分类逻辑优化.editperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppeditperception/ground_segmentation/services/seg_ground_alg_plus.h
- perception/ground_segmentation/services/impl/seg_ground_alg_plus.cppperception/ground_segmentation/services/seg_ground_alg_plus.ha28e10bfe9f323541a2bb8c7c39e0441a93bba1c1783913000000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: seg坑沿点辨识优化.
2026-07-13 11:23:20 +0800a28e10bfe9f323541a2bb8c7c39e0441a93bba1cnote_out: seg坑沿点辨识优化.editperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppeditperception/ground_segmentation/services/seg_ground_alg_plus.h
- perception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp774420d69d71283d6e861d64421d0b1e8245e5701783914438000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:seg判坑簇修改条件.
2026-07-13 11:47:18 +0800774420d69d71283d6e861d64421d0b1e8245e570note_out:seg判坑簇修改条件.editperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
- perception/ground_segmentation/common/publisher_utils.hperception/ground_segmentation/services/impl/seg_obstacle_step.cppc8486a4ce688fd00b9eb6de5dc412cbc24528c041784706792000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:增加梁山后向雷达输出显示topic.
2026-07-22 15:53:12 +0800c8486a4ce688fd00b9eb6de5dc412cbc24528c04note_out:增加梁山后向雷达输出显示topic.editperception/ground_segmentation/services/impl/seg_obstacle_step.cppeditperception/ground_segmentation/common/publisher_utils.h
- perception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cpp94e9c65134bda3d3ac83f2bd6eeb77e1d24241eb1784723729000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:魏桥og点柳树过滤.
2026-07-22 20:35:29 +080094e9c65134bda3d3ac83f2bd6eeb77e1d24241ebnote_out:魏桥og点柳树过滤.editperception/common/common_types.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp83258da18869a6b76aa61f2d44f6ba4fa860b4c71784724879000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:魏桥og点柳树过滤.
2026-07-22 20:54:39 +080083258da18869a6b76aa61f2d44f6ba4fa860b4c7note_out:魏桥og点柳树过滤.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/common/dld_params_config.hperception/common/common_types.h3b933fd3043ac163d2a58a11dc0b48f0e22fe13b1784725435000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:willow_hang_z默认改成4.5, 防误用.
2026-07-22 21:03:55 +08003b933fd3043ac163d2a58a11dc0b48f0e22fe13bnote_out:willow_hang_z默认改成4.5, 防误用.editperception/dl_detection/common/dld_params_config.heditperception/common/common_types.h
- perception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/lidar/impl/dld_og_around_impl.cppdoc/yaw_pipeline.mdperception/common/common_types.hperception/dl_detection/lidar/impl/dld_detection_postprocessor.cppeabb1c0f8854448a1dcf1d08f1974311898d3b091784789436000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:增加dl输出角度的保存和可视化输出.
2026-07-23 14:50:36 +0800eabb1c0f8854448a1dcf1d08f1974311898d3b09note_out:增加dl输出角度的保存和可视化输出.editperception/dl_detection/lidar/impl/dld_detection_postprocessor.cppeditperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppeditperception/dl_detection/lidar/impl/dld_og_around_impl.cppadddoc/yaw_pipeline.mdeditperception/common/common_types.h
- perception/dl_detection/lib/obstacle_tracking/box_refiner.cppperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppacf8438e19260c301ca2660717ab14b34ebd31301784794238000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:堆高机正面吊取消速度纠正box heading.
2026-07-23 16:10:38 +0800acf8438e19260c301ca2660717ab14b34ebd3130note_out:堆高机正面吊取消速度纠正box heading.editperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppeditperception/dl_detection/lib/obstacle_tracking/box_refiner.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.h9ad41a6f2d31653bfb01010b9e3ab12103b57a681784804323000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:铁路堆场路沿点增加时域叠加功能.
2026-07-23 18:58:43 +08009ad41a6f2d31653bfb01010b9e3ab12103b57a68note_out:铁路堆场路沿点增加时域叠加功能.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.heditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/common/common_types.heditperception/dl_detection/common/dld_params_config.h
- perception/ground_segmentation/common/basic_types.hperception/ground_segmentation/common/grd_utils.cppperception/ground_segmentation/services/impl/seg_ground_alg_plus.cppe71a79dfcdac2552650c3c752ff6a939343a276d1784858936000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:地磅/沟沿/路沿检出车身屏蔽区提取为参数.
2026-07-24 10:08:56 +0800e71a79dfcdac2552650c3c752ff6a939343a276dnote_out:地磅/沟沿/路沿检出车身屏蔽区提取为参数.editperception/ground_segmentation/common/basic_types.heditperception/ground_segmentation/common/grd_utils.cppeditperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
- perception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/utils/dld_map_mask_util.cppperception/dl_detection/utils/dld_map_mask_util.hperception/dl_detection/params/obstacle_detection_param_dx.yamlperception/common/common_types.hperception/dl_detection/lidar/impl/dld_detection_postprocessor.cppe1cb321a904cdfad9d34223c78c365b7472a4fd51784892899000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:new_detection的地图显示增加像素相关着色&&增加map系密集栅格等间距格点云输出&&增加魏桥柳树矮枝像素和过滤方法.
2026-07-24 19:34:59 +0800e1cb321a904cdfad9d34223c78c365b7472a4fd5note_out:new_detection的地图显示增加像素相关着色&&增加map系密集栅格等间距格点云输出&&增加魏桥柳树矮枝像素和过滤方法.editperception/dl_detection/params/obstacle_detection_param_dx.yamleditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/utils/dld_map_mask_util.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_detection_postprocessor.cppeditperception/dl_detection/utils/dld_map_mask_util.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp49224128b5e352a2a2725bee523a6cce87a09b691784895663000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:魏桥柳树区不做未定义点捞回.
2026-07-24 20:21:03 +080049224128b5e352a2a2725bee523a6cce87a09b69note_out:魏桥柳树区不做未定义点捞回.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp2ac49b10038d434a80926fe006876ab961730edd1784896981000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonogte_out:去掉调试代码.
2026-07-24 20:43:01 +08002ac49b10038d434a80926fe006876ab961730eddnogte_out:去掉调试代码.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppperception/dl_detection/common/dld_params_config.hperception/common/common_types.h5b9e8b302b33515d771f861008e34eca2e6e0def1784997139000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@denior.autonote_out:路口和道路内35米内不触发box refiner.
2026-07-26 00:32:19 +08005b9e8b302b33515d771f861008e34eca2e6e0defnote_out:路口和道路内35米内不触发box refiner.editperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppeditperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppeditperception/common/common_types.h
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.hperception/dl_detection/common/dld_utils.cppperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppperception/dl_detection/common/dld_params_config.hperception/common/common_types.h5054569d50da0fccd833d81a25b818d653e474821785052551000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@denior.autonote_out:振石窄且短地磅时域叠加策略.
2026-07-26 15:55:51 +08005054569d50da0fccd833d81a25b818d653e47482note_out:振石窄且短地磅时域叠加策略.editperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_ditch_line_handler.heditperception/dl_detection/common/dld_utils.cpp
- perception/dl_detection/common/dld_utils.cppc0902d72919f5a9b82590a8eb8dc83fe1da653501785054599000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@denior.autonote_out:删除调试时的错误map_origin赋值.
2026-07-26 16:29:59 +0800c0902d72919f5a9b82590a8eb8dc83fe1da65350note_out:删除调试时的错误map_origin赋值.editperception/dl_detection/common/dld_utils.cpp
- 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/lib/obstacle_tracking/obstacle_tracking.hperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/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/lidar/include/dld_pre_suf_set/dld_filter_sets.heditperception/common/common_types.heditperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.heditperception/common/constant.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppeditperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppeditperception/dl_detection/lib/obstacle_tracking/tracking_common.cppeditperception/dl_detection/lidar/impl/dld_suf_impl.cpp
- 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/include/dld_pre_suf_set/dld_ditch_line_handler.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
- 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/ground_segmentation/common/grd_utils.cppeditperception/common/utils.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/ground_segmentation/services/impl/seg_transform_step.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/common/dld_params_config.heditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cpp
- 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/dl_detection/lidar/impl/dld_og_around_impl.cppperception/common/common_types.h3853d8a7497e55eda4b0b067f92a495ab95ae1cd1785416834000http://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/impl/dld_og_around_impl.cppeditperception/common/common_types.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
- 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/lidar/impl/dld_og_around_impl.cppperception/dl_detection/services/dld_sensor_msg_manager.hperception/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/common/ros_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/services/dld_sensor_msg_manager.heditperception/dl_detection/services/impl/dld_sensor_msg_manager.cppeditperception/dl_detection/services/impl/dld_vehicle.cppeditperception/dl_detection/services/dld_vehicle.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
- 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edittools/replay_script/driver_config.yamleditCMakeLists.txtedittools/replay_script/config.yamladdtools/replay_script/deploy.env.exampleaddtools/replay_script/clone_new_detection.shedittools/replay_script/README.mdedittools/replay_script/run_perception.shedittools/replay_script/run_driver.shaddtools/replay_script/.gitignore
- 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
- .gitignoreperception/dl_detection/common/dld_params_config.hperception/lib/geometry/bbox_tracking.cppperception/dl_detection/lib/obstacle_tracking/box_refiner.hperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppperception/dl_detection/lib/obstacle_tracking/box_refiner.cppperception/common/common_types.h7a0eaf9e55781bdf71e3da4db282d022ddbffaaf1786437189000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:前港洒水车和清扫车类别稳定策略.
2026-08-11 16:33:09 +08007a0eaf9e55781bdf71e3da4db282d022ddbffaafnote_out:前港洒水车和清扫车类别稳定策略.editperception/lib/geometry/bbox_tracking.cppeditperception/dl_detection/lib/obstacle_tracking/box_refiner.heditperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cppeditperception/dl_detection/common/dld_params_config.hedit.gitignoreeditperception/dl_detection/lib/obstacle_tracking/box_refiner.cppeditperception/common/common_types.h
- 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.cpp7717cd52c63e4e20e4046b0c979ddf9e405bcb961786448894000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台新过滤策略.
2026-08-11 19:48:14 +08007717cd52c63e4e20e4046b0c979ddf9e405bcb96note_out:烟台新过滤策略.editperception/dl_detection/common/dld_params_config.heditperception/common/common_types.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/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.cpp54cb49428e06702c385f4472ae6e6e0ce725f9bc1786451008000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:烟台新加过滤策略先触发录包搜集信息.
2026-08-11 20:23:28 +080054cb49428e06702c385f4472ae6e6e0ce725f9bcnote_out:烟台新加过滤策略先触发录包搜集信息.editperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
- perception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppperception/common/common_types.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppef5b6b29ea0592df7b4c47c9ce751c0d8e7c582a1786451026000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto梁山洗车间谁水花过滤
2026-08-11 20:23:46 +0800ef5b6b29ea0592df7b4c47c9ce751c0d8e7c582a梁山洗车间谁水花过滤editperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppeditperception/common/common_types.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/lidar/impl/dld_ditch_line_handler.cppeditperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp6330991ad19ce48d6b95236baf7afea12e5996a81786452229000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto调整洗车间过滤距离阈值
2026-08-11 20:43:49 +08006330991ad19ce48d6b95236baf7afea12e5996a8调整洗车间过滤距离阈值editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
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