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Changes

Summary

  1. note_note：发出的og高度和og_around高度统一 (details)
  2. note_note：添加log排查耗时 (details)
  3. [note]:增加修改去地面算法线束遍历顺序的标志位. (details)
  4. note_out: weed_mat对label=人的点取差 (details)
  5. note_out: weed_mat对于树多停车区不去草 (details)
  6. [fix] delete redundant atomicExch operation in cp_lib (details)
  7. [update:cp] dxall_94k_rwr0.78_gt9_maxlr0.001_adamwcyclelr_syncbn_200epoch_warmup1 (details)
  8. [feat_out]:跟踪二阶段匹配扩展到所有类别,低分-高分框参与不同阶段匹配. (details)
  9. [update:model/xiamen] decrease threshold of lock station (0.55 -> 0.40) (details)
  10. [note_out]:修改车挂检测值发送逻辑,无检测值时不发送. (details)
  11. [feat_out]:跟踪障碍物匹配方法改为多策略加权匹配. (details)
  12. [fix_out]:fix wrong filename of rear down lidar config file. (details)
  13. [fix] move buffer clear operation from tail to head (details)
  14. [update:cp_lib] delete redundant code (details)
  15. [update] add set-zero operation before doinfer in dld_inference_processor (details)
  16. [fix:cp_lib] add if-return assert to make sure point is in range (details)
  17. [note_out]:1. 确定新匹配策略程序中参数. 2. 启用dl_filter_score作为二阶段匹配的参数. (details)
  18. note_out: 融合还点阈值5cm提高到10cm (details)
  19. [note_out]:删除跟踪匹配策略调试日志和部分不使用的代码. (details)
  20. fix_out: (details)
  21. [fix] add if-return assert to aviod length larger than MAX(unsigned int) = 4294967295 (details)
  22. [update:cp] decrease threshold of stack_crance (0.75 -> 0.55) (details)
  23. [note_out]:地图外过滤速度为0的行人OBJ. (details)
  24. note_out: 融合阈值提高到15cm来忽略低矮路沿点， 避免低矮路沿对pnc搜索路径的影响 (details)
  25. note_out: 被nms掉的框的点归还处理 (details)
  26. [feat_out]:跟踪NMS删框还点逻辑加上tracker本帧是否有检测的判断. (details)
  27. [note_out]: 修改大榭二阶段跟踪阈值. (details)
  28. [note_out]: 修改所有港口的模型输出置信度为低分值,适配二阶段匹配策略. (details)
Commit e5ffe599dbd9f9ebd8304e277e692a8c048abd1f by liuwenjing
note_note：发出的og高度和og_around高度统一
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
The file was modifiedperception/dl_detection/common/dld_params_config.h
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/params/obstacle_detection_param.yaml
Commit c97dec506a591ae42b4dd54f5371d2a708eeb5d4 by liuwenjing
note_note：添加log排查耗时
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit c904147d8a93ea4be80b080c004764ee83c2350e by tangxiao
[note]:增加修改去地面算法线束遍历顺序的标志位.
The file was modifiedperception/ground_segmentation/common/basic_types.h
The file was modifiedperception/ground_segmentation/common/grd_utils.cpp
The file was modifiedperception/ground_segmentation/services/impl/seg_ground_step.cpp
Commit 88163f04aadf9d119a885f16b8fe0eaf45be9bbc by liuwenjing
note_out: weed_mat对label=人的点取差
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
Commit 079f9ca33ded56161fdc285e1e2959bfba16447d by liuwenjing
note_out: weed_mat对于树多停车区不去草
The file was modifiedperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.h
Commit 146760cfef5fdef3b690b9bd32d013e9b3cc511b by yanhaixu
[fix] delete redundant atomicExch operation in cp_lib
The file was modifiedperception/dl_detection/lib/centerpoint
Commit 9c9aed999cf2b940cee6ec1aeb95635ae05320e1 by yanhaixu
[update:cp] dxall_94k_rwr0.78_gt9_maxlr0.001_adamwcyclelr_syncbn_200epoch_warmup1
The file was modifiedperception/dl_detection/params/model
Commit 7e078efcbedcfc3a8de8e71015460cce09187054 by tangxiao
[feat_out]:跟踪二阶段匹配扩展到所有类别,低分-高分框参与不同阶段匹配.
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cpp
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.h
Commit 2ec34fcff11d22cc4a0e7ae48d33ad443b75d7b4 by yanhaixu
[update:model/xiamen] decrease threshold of lock station (0.55 -> 0.40)
The file was modifiedperception/dl_detection/params/model
Commit 349eca640aa65dfd239122cda6d889407ee4bb8b by tangxiao
[note_out]:修改车挂检测值发送逻辑,无检测值时不发送.
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
The file was modifiedperception/dl_detection/utils/dld_visualization_debug.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_detection_postprocessor.h
Commit 234ab52d961fcc531ee799e29f0d459991429cd2 by tangxiao
[feat_out]:跟踪障碍物匹配方法改为多策略加权匹配.
The file was modifiedperception/dl_detection/lib/obstacle_tracking/CMakeLists.txt
The file was addedperception/dl_detection/lib/obstacle_tracking/tracking_common.h
The file was addedperception/dl_detection/lib/obstacle_tracking/object_tracker_distance.h
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.h
The file was modifiedperception/common/common_types.h
The file was modifiedperception/dl_detection/common/dld_params_config.h
The file was addedperception/dl_detection/lib/obstacle_tracking/object_tracker_distance.cpp
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cpp
The file was addedperception/dl_detection/lib/obstacle_tracking/tracking_common.cpp
Commit d83c82d2563d50156eda3687540decb883e7c633 by tangxiao
[fix_out]:fix wrong filename of rear down lidar config file.
The file was addedperception/ground_segmentation/conf/rear_down.flags.txt
The file was removedperception/ground_segmentation/conf/rear_down.flag.txt
Commit 62a8b5b7e977854e08390813946b02476e9e2751 by yanhaixu
[fix] move buffer clear operation from tail to head
The file was modifiedperception/dl_detection/lib/centerpoint
Commit 2b5c21fa4e0286b60e903d76d4efa77d04c87075 by yanhaixu
[update:cp_lib] delete redundant code
The file was modifiedperception/dl_detection/lib/centerpoint
Commit 9ff22541034bd350e9572bae92e64295faf0cf65 by yanhaixu
[update] add set-zero operation before doinfer in dld_inference_processor
The file was modifiedperception/dl_detection/lidar/impl/dld_inference_processor.cpp
Commit 7421003750d5080434a092649837a35681f65121 by yanhaixu
[fix:cp_lib] add if-return assert to make sure point is in range
The file was modifiedperception/dl_detection/lib/centerpoint
Commit accccf89039ab79847dd0f7356caff8a881e0bd9 by tangxiao
[note_out]:1. 确定新匹配策略程序中参数. 2. 启用dl_filter_score作为二阶段匹配的参数.
The file was modifiedperception/dl_detection/lib/obstacle_tracking/object_tracker_distance.h
The file was modifiedperception/dl_detection/common/dld_params_config.h
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cpp
Commit 8c9457d09a6d26f4bc23cdc60e597d34e6ca4539 by lanxiaosong
note_out: 融合还点阈值5cm提高到10cm
The file was modifiedperception/ground_segmentation/services/impl/seg_obstacle_step.cpp
Commit 41d0f2e224496aef0b1cf62c41083fb8782dcdf0 by tangxiao
[note_out]:删除跟踪匹配策略调试日志和部分不使用的代码.
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cpp
The file was modifiedperception/dl_detection/lib/obstacle_tracking/object_tracker_distance.cpp
Commit 4ac90471a4e40c1a2f72b4c19523e05329706596 by wangrui
fix_out:
1.增加降采样内存分配失败的捕获功能
The file was modifiedperception/dl_detection/lidar/impl/dld_pointcloud_filter_processor.cpp
The file was modifiedperception/dl_detection/common/dld_uniform_samplings.hpp
Commit 48fbb543a7b5bf2fe4e7d83f78db9b465e7ab268 by yanhaixu
[fix] add if-return assert to aviod length larger than MAX(unsigned int) = 4294967295
The file was modifiedperception/dl_detection/lib/centerpoint
Commit 17de6a8cba353c529d1979a2ff0ca8942ba86cbf by yanhaixu
[update:cp] decrease threshold of stack_crance (0.75 -> 0.55)
The file was modifiedperception/dl_detection/params/model
Commit ad869a28ef9354e45ff6d7c54dd39d3e0554f05e by tangxiao
[note_out]:地图外过滤速度为0的行人OBJ.
The file was modifiedperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
The file was modifiedperception/dl_detection/lidar/include/dld_detection_tracking_processor.h
The file was modifiedperception/lib/geometry/bbox_tracking.h
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cpp
Commit f9bc5e1de2a08fa3716aa99d28dc9fb7d28c4f95 by lanxiaosong
note_out: 融合阈值提高到15cm来忽略低矮路沿点， 避免低矮路沿对pnc搜索路径的影响
The file was modifiedperception/ground_segmentation/services/impl/seg_obstacle_step.cpp
Commit d949853b2f7c3a85fe1a50cc0721321e42d46437 by liuwenjing
note_out: 被nms掉的框的点归还处理
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.h
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cpp
Commit b83710ca8526b5e825e2176e111e2d344f2a5a1f by tangxiao
[feat_out]:跟踪NMS删框还点逻辑加上tracker本帧是否有检测的判断.
The file was modifiedperception/dl_detection/lib/obstacle_tracking/obstacle_tracking.cpp
Commit 77e5cca36af57039bb6137b63c82e797a6fb255e by tangxiao
[note_out]: 修改大榭二阶段跟踪阈值.
The file was modifiedperception/dl_detection/params/model
Commit fbc64a98356a8ff2af78b5888ccf0a0a6f9bb358 by tangxiao
[note_out]: 修改所有港口的模型输出置信度为低分值,适配二阶段匹配策略.
The file was modifiedperception/dl_detection/params/model

Summary

  1. fix_out : change for rizhao (details)
  2. fix_out : change for rizhao (details)
Commit bf29af24386131eca17ea004444af647844cb607 by hongjinjin
fix_out : change for rizhao
The file was modifiedparams/laneatt/model
The file was modifiedparams/localization_region.yaml
Commit b6e59b09046db47421614e651e7e22929cbeedd5 by hongjinjin
fix_out : change for rizhao
The file was modifiedparams/localization_region.yaml