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Changes

Summary

  1. :new: 增加船内重启快照恢复功能,增加坡道内退化导致运动不一致ins兜底策略,mrpt关联多线程tbb并行加速,开启三雷达丰富特征并严格控制特征数不超过10000 (details)
  2. :new: 增加仓库内重定位接口 (details)
  3. :new: tbb > openmp > single (details)
  4. :new: 增加状态为5时360度每10度评分,评分前几名做icp精恢复位置,做舱内初始化 (details)
Commit 74175f25189a90487a28f6dd8d1a1b2c19da6a48 by liuyang
:new: 增加船内重启快照恢复功能,增加坡道内退化导致运动不一致ins兜底策略,mrpt关联多线程tbb并行加速,开启三雷达丰富特征并严格控制特征数不超过10000
The file was modifiedcommon/util/match_debug_pcd_save.cpp
The file was modifiedloc/param/reflect_match/liangshan/mrpt_icp.yaml
The file was modifiedloc/app/lidar_loc_v2_node.cpp
The file was modifiedcommon/util/ros_util.h
The file was modifiedcommon/util/ramp_ground_regions.h
The file was modifiedloc/param/reflect_match/weihai/feature.yaml
The file was modifiedloc/lidar/reflect_match/CMakeLists.txt
The file was modifiedcommon/test/CMakeLists.txt
The file was modifiedcommon/util/async_writer.cpp
The file was addedloc/param/reflect_match/luofen/region_maintainer.yaml
The file was addedloc/param/lidar_loc_v2_node.vehicle_daxie.yaml
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.h
The file was modifiedCMakeLists.txt
The file was addedcommon/test/test_ship_restart_state.cpp
The file was addedloc/param/reflect_match/luofen/feature.yaml
The file was modifiedcommon/util/ramp_deploy_detect.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle_baoshishun.yaml
The file was modifiedloc/lidar/reflect_match/feature/feature_extractor.cpp
The file was modifiedcommon/util/ship_entrance_regions.cpp
The file was modifiedloc/lidar/src/lidar_manage.cpp
The file was modifiedloc/param/reflect_match/weihai/mrpt_icp.yaml
The file was modifiedloc/lidar/src/lidar_process.h
The file was modifiedcommon/util/ramp_lidar_odom.cpp
The file was addedloc/param/lidar_loc_v2_node.vehicle_luofen.yaml
The file was modifiedcommon/geometry/reg_result.h
The file was modifiedcommon/util/overlay_text_integrator.cpp
The file was modifiedloc/lidar/reflect_match/reflect_matcher.h
The file was modifiedloc/lidar/reflect_match/reflect_lidar_process.cpp
The file was addedcommon/util/ship_restart_state.h
The file was modifiedcommon/util/wheel_odom.cpp
The file was addedcommon/test/test_ramp_lidar_odom.cpp
The file was modifiedmapping/base_map/base_map.cpp
The file was modifiedloc/lidar/reflect_match/deck_elevation_manager.h
The file was modifiedloc/param/lidar_loc_v2_node.vehicle_liangshan.yaml
The file was addedloc/param/reflect_match/luofen/mrpt_icp.yaml
The file was modifiedmapping/reflect_map/reflect_map_reader.cpp
The file was modifiedloc/param/lidar_loc_v2_node.yaml
The file was modifiedcommon/util/ship_entrance_ground_anchor.h
The file was modifiedloc/param/reflect_match/xilian/region.yaml
The file was addedloc/param/reflect_match/luofen/region.yaml
The file was modifiedloc/lidar/src/lidar_process.cpp
The file was modifiedloc/fusion/pose_2d_measurement.h
The file was modifiedcommon/CMakeLists.txt
The file was modifiedcommon/util/slope_loc.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle_weihai.yaml
The file was modifiedcommon/util/ramp_lidar_odom.h
The file was modifiedcommon/util/ship_entrance_regions.h
The file was modifiedloc/lidar/src/lidar_manage.h
The file was addedcommon/util/ship_restart_state.cpp
The file was modifiedloc/fusion/msf_wrapper.cpp
The file was modifiedcommon/util/ground_match_correction.cpp
The file was modifiedloc/lidar/reflect_match/feature/feature.h
The file was modifiedloc/app/lidar_loc_v2_node_impl.h
The file was modifiedloc/launch/lidar_loc_v2_node.rviz
The file was modifiedloc/app/lidar_loc_v2_node_impl.cpp
The file was modifiedcommon/util/ship_entrance_ground_anchor.cpp
The file was modifiedloc/lidar/reflect_match/reflect_lidar_process.h
The file was addedloc/param/reflect_match/luofen/mask.yaml
The file was modifiedcommon/util/ramp_ground_regions.cpp
The file was modifiedloc/lidar/reflect_match/deck_elevation_manager.cpp
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
Commit 3569ea451638f2caa5a99380aedd9a62d4951043 by liuyang
:new: 增加仓库内重定位接口
The file was modifiedloc/lidar/src/lidar_manage.cpp
The file was modifiedloc/app/lidar_loc_v2_node_impl.h
The file was modifiedloc/lidar/src/lidar_manage.h
The file was modifiedcommon/geometry/reg_result.h
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle_xilian.yaml
The file was modifiedoffline/read_bag_poses.cpp
The file was modifiedloc/app/lidar_loc_v2_node_impl.cpp
The file was modifiedloc/lidar/src/data_interface.h
Commit dd9c6d3dfc94a9d36f205d90719e36adced401a7 by liuyang
:new: tbb > openmp > single
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was addedloc/param/lidar_loc_v2_node.vehiclezhenshi.yaml
The file was removedloc/param/lidar_loc_v2_node.vehicle_weihai.yaml
The file was modifiedCMakeLists.txt
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
Commit 36f5b4035235f4164db82c0a34b9207fd6e7939c by liuyang
:new: 增加状态为5时360度每10度评分,评分前几名做icp精恢复位置,做舱内初始化
The file was modifiedloc/lidar/src/lidar_manage.h
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.h
The file was modifiedloc/lidar/src/lidar_manage.cpp
The file was removedloc/param/lidar_loc_v2_node.vehiclezhenshi.yaml
The file was modifiedloc/param/reflect_match/zhenshi/mrpt_icp.yaml
The file was modifiedloc/lidar/reflect_match/reflect_lidar_process.cpp
The file was modifiedloc/lidar/reflect_match/registration/mrpt_icp.cpp
The file was modifiedloc/param/lidar_loc_v2_node.vehicle.yaml
The file was modifiedloc/lidar/src/lidar_process.h
The file was addedloc/param/lidar_loc_v2_node.vehicle_weihai.yaml
The file was modifiedloc/lidar/reflect_match/reflect_lidar_process.h