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Changes

Summary

  1. note_out:新增像素66装料仓区,开关filter_load_bin打开时区内车体系z>load_bin_z_max(默认2.5)的OG点过滤,车周和车周外都滤,obj和cluster OG不受影响;振石墙补点wq_wall_fill改到66区;魏桥装料仓画66,振石破袋机65改66 (details)
  2. note_out:魏桥/振石感知地图更新为maps_2.0最新版(魏桥v1.0.13、振石v1.0.60),66区与原手画逐像素一致 (details)
  3. note_out:与自车头NMS(remove_ego_overlap)的类别加narrow_20foot,去魏桥装料仓口自车后方的20尺箱误检 (details)
  4. note_out:自车头NMS删掉的CAR上iou>nms_iou_area且分数<ego_car_rm_ped_max_score(0.8)的行人一并删除,去烟台跨抱轿车车头误检行人,开关ego_car_rm_ped默认关 (details)
  5. note_out:梁山上磅坡道地面散点(问题82):新开关weighbridge_low_obs_ego_in,自车在40区时车头前方40区平坦低点(0.2m格内高差<5cm且z<0.8m)也过滤,车周范围外40区点单独按格内高差过滤;梁山感知地图换v1.0.57并画R02像素40 (details)
  6. 钢板宽度处理（避免单格z向极值否决&&任务窄报警放宽0.05&&静止时有装卸取消报警） (details)
  7. 低速判断用绝对值 (details)
  8. 识别定位大跳&reset (details)
  9. note_out:66装料仓区内留下的非1xx OG点车周和ex_og都输出115(上帧/本帧行人类框外扩0.3m内不标),65区行人框外扩也改0.3m;改正wq_wall_pc_map_注释为66区 (details)
  10. note_out:新增像素67装料仓保留区(其余按66区处理),开关load_bin_ego_keep开时自车框内区内车体系z>load_bin_keep_z_min(3.8)的点不按车头滤除、不进车挂/补墙拟合,车周和ex_og输出115;振石感知地图画破袋机口上方67区 (details)
  11. note_out:振石感知地图67区按汇总表画法重画(顶点截断取整fillPoly含边界,486px) (details)
  12. note_out:振石感知地图66区按新顶点扩大(包住原66和67区,67不变,66共1321px) (details)
  13. note_out:烟台感知地图更新到v1.1.49并手画R01堆(像素11)和堆场M001(像素58) (details)
Commit b6ed80094a771a39e4fa3690a00741a602f05fa3 by tangxiao
note_out:新增像素66装料仓区,开关filter_load_bin打开时区内车体系z>load_bin_z_max(默认2.5)的OG点过滤,车周和车周外都滤,obj和cluster OG不受影响;振石墙补点wq_wall_fill改到66区;魏桥装料仓画66,振石破袋机65改66
The file was modifiedperception/dl_detection/params/map/perception_map_weiqiao.png
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/common/dld_params_config.h
The file was modifiedperception/dl_detection/params/map/perception_map_zhenshi.png
The file was modifiedperception/common/common_types.h
Commit 123678855fa21f71627abf76b91a77cb5c10c617 by tangxiao
note_out:魏桥/振石感知地图更新为maps_2.0最新版(魏桥v1.0.13、振石v1.0.60),66区与原手画逐像素一致
The file was modifiedperception/dl_detection/params/map/perception_map_zhenshi.png
The file was modifiedperception/dl_detection/params/map/perception_map_weiqiao.png
Commit 8fbbb3500a3b086eb8a01369892cbf19cf346600 by tangxiao
note_out:与自车头NMS(remove_ego_overlap)的类别加narrow_20foot,去魏桥装料仓口自车后方的20尺箱误检
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_filter_sets.h
Commit 4a33c8694aa25fca7ed9087ee08eecb6a193997f by tangxiao
note_out:自车头NMS删掉的CAR上iou>nms_iou_area且分数<ego_car_rm_ped_max_score(0.8)的行人一并删除,去烟台跨抱轿车车头误检行人,开关ego_car_rm_ped默认关
The file was modifiedperception/dl_detection/common/dld_params_config.h
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/lidar/impl/dld_suf_impl.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.h
Commit 2fefe20ab66781a3776fec86b1e3081136c80435 by tangxiao
note_out:梁山上磅坡道地面散点(问题82):新开关weighbridge_low_obs_ego_in,自车在40区时车头前方40区平坦低点(0.2m格内高差<5cm且z<0.8m)也过滤,车周范围外40区点单独按格内高差过滤;梁山感知地图换v1.0.57并画R02像素40
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/params/map/perception_map_liangshangang.png
The file was modifiedperception/dl_detection/common/dld_params_config.h
The file was modifiedperception/common/common_types.h
Commit e3029ca7a525f1467184d554ed0e6254367db7ac by liuwenjing
钢板宽度处理（避免单格z向极值否决&&任务窄报警放宽0.05&&静止时有装卸取消报警）
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was addedperception/dl_detection/lidar/include/dld_pre_suf_set/steel_plate_geometry.h
Commit 4f92b2599f881f5f31779c95c4d9a085f87c7176 by liuwenjing
低速判断用绝对值
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit fc521897161cc52433477747562a169cbdee306b by liuwenjing
识别定位大跳&reset
The file was modifiedperception/dl_detection/services/dld_sensor_msg_manager.h
The file was modifiedperception/dl_detection/services/dld_subscriber.h
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
The file was addedperception/dl_detection/common/trailer_localization_guard.h
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calibrator_by_container.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator_by_container.h
The file was modifiedperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
The file was modifiedperception/dl_detection/services/dld_vehicle.h
The file was modifiedperception/dl_detection/services/impl/dld_vehicle.cpp
The file was modifiedperception/dl_detection/services/impl/dld_sensor_msg_manager.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.h
The file was modifiedperception/dl_detection/lidar/include/dld_data_provider.h
Commit 54f27db9d9162225fc1e34e1a9c6607879286aa5 by tangxiao
note_out:66装料仓区内留下的非1xx OG点车周和ex_og都输出115(上帧/本帧行人类框外扩0.3m内不标),65区行人框外扩也改0.3m;改正wq_wall_pc_map_注释为66区
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_data_provider.h
Commit 4955b9233e627f7cb395e0784e1ad32ff1915822 by tangxiao
note_out:新增像素67装料仓保留区(其余按66区处理),开关load_bin_ego_keep开时自车框内区内车体系z>load_bin_keep_z_min(3.8)的点不按车头滤除、不进车挂/补墙拟合,车周和ex_og输出115;振石感知地图画破袋机口上方67区
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
The file was modifiedperception/dl_detection/common/dld_params_config.h
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/params/map/perception_map_zhenshi.png
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_data_provider.h
Commit a223cb00ed76a0daa50e3486d1bda0fafc90cc02 by tangxiao
note_out:振石感知地图67区按汇总表画法重画(顶点截断取整fillPoly含边界,486px)
The file was modifiedperception/dl_detection/params/map/perception_map_zhenshi.png
Commit 956be2d47b860ea6742ebb84ad1cf5f3ca6f89ce by tangxiao
note_out:振石感知地图66区按新顶点扩大(包住原66和67区,67不变,66共1321px)
The file was modifiedperception/dl_detection/params/map/perception_map_zhenshi.png
Commit 99f08c11b7565c5465a3c3d946023457f8357a49 by tangxiao
note_out:烟台感知地图更新到v1.1.49并手画R01堆(像素11)和堆场M001(像素58)
The file was modifiedperception/dl_detection/params/map/perception_map_shandongyantai.png