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[Pipeline] echo
{"msg":"操作成功","code":200,"data":""}
[Pipeline] readJSON
[Pipeline] echo
[msg:操作成功, code:200, data:]
[Pipeline] echo
status:200
[Pipeline] echo
{"msg":"操作成功","code":200,"data":""}
[Pipeline] echo
------------------- 开始上传友谊关ota ---------------------------------------------------------------------
[Pipeline] echo
------------------- 开始上传洋浦ota ---------------------------------------------------------------------
[Pipeline] echo
------------------- 开始上传梁山港ota ---------------------------------------------------------------------
[Pipeline] echo
------------------- 开始上传武汉中铁联集ota ---------------------------------------------------------------------
[Pipeline] echo
public yantai
[Pipeline] echo
上传失败：[]
[Pipeline] }
[Pipeline] // script
[Pipeline] }
[Pipeline] // stage
[Pipeline] stage
[Pipeline] { (Declarative: Post Actions)
[Pipeline] script
[Pipeline] {
[Pipeline] echo
always
[Pipeline] sh
+ rm -rf /senior/workspace/orin-module-slave64/slave/.catkin_tools /senior/workspace/orin-module-slave64/slave/build/ /senior/workspace/orin-module-slave64/slave/devel/ /senior/workspace/orin-module-slave64/slave/install /senior/workspace/orin-module-slave64/slave/logs/
[Pipeline] }
[Pipeline] // script
[Pipeline] script
[Pipeline] {
[Pipeline] sh
+ cp -r /senior/workspace/commit/orin-module-slave64/slave_tmp/cache_bag_node /senior/workspace/commit/orin-module-slave64/slave_tmp/camera_driver /senior/workspace/commit/orin-module-slave64/slave_tmp/crane_align /senior/workspace/commit/orin-module-slave64/slave_tmp/dox /senior/workspace/commit/orin-module-slave64/slave_tmp/guardian /senior/workspace/commit/orin-module-slave64/slave_tmp/hdcontrol /senior/workspace/commit/orin-module-slave64/slave_tmp/hdmap /senior/workspace/commit/orin-module-slave64/slave_tmp/hdmap_interface /senior/workspace/commit/orin-module-slave64/slave_tmp/hesai_lidar /senior/workspace/commit/orin-module-slave64/slave_tmp/imv_spreader_detection /senior/workspace/commit/orin-module-slave64/slave_tmp/lidar_loc_v2 /senior/workspace/commit/orin-module-slave64/slave_tmp/mrpt2 /senior/workspace/commit/orin-module-slave64/slave_tmp/new_detection /senior/workspace/commit/orin-module-slave64/slave_tmp/new_truck_spreader_detection /senior/workspace/commit/orin-module-slave64/slave_tmp/node-manager /senior/workspace/commit/orin-module-slave64/slave_tmp/node_manager_online /senior/workspace/commit/orin-module-slave64/slave_tmp/ole_lidar /senior/workspace/commit/orin-module-slave64/slave_tmp/performance_analyst /senior/workspace/commit/orin-module-slave64/slave_tmp/prediction /senior/workspace/commit/orin-module-slave64/slave_tmp/rcinterpreter /senior/workspace/commit/orin-module-slave64/slave_tmp/rminterpreter /senior/workspace/commit/orin-module-slave64/slave_tmp/ros-bridge /senior/workspace/commit/orin-module-slave64/slave_tmp/rslidar_sdk /senior/workspace/commit/orin-module-slave64/slave_tmp/schedule_manager /senior/workspace/commit/orin-module-slave64/slave_tmp/senior_calibration /senior/workspace/commit/orin-module-slave64/slave_tmp/shared_msgs /senior/workspace/commit/orin-module-slave64/slave_tmp/slave /senior/workspace/commit/orin-module-slave64/slave_tmp/system_monitor /senior/workspace/commit/orin-module-slave64/slave_tmp/system-ros /senior/workspace/commit/orin-module-slave64/slave_tmp/thirdparty /senior/workspace/commit/orin-module-slave64/slave_tmp/unified-system-monitor /senior/workspace/commit/orin-module-slave64/slave_tmp/versions_observer /senior/workspace/commit/orin-module-slave64/slave_tmp/warningModule /senior/workspace/commit/orin-module-slave64/slave/
[Pipeline] sh
+ rm -rf /senior/workspace/commit/orin-module-slave64/slave_tmp
[Pipeline] readJSON
[Pipeline] echo
webhtml准备完成
[Pipeline] echo
坑点标记,一通修改,还是会有误判.
[Pipeline] echo
坑洼分类重写为单趟外扩(坑/地面/UNDEF一遍标),沿点改紧邻地面判据.
[Pipeline] echo
调整盘踞捞回前向倾斜地面标记&&去除远处误标地下簇(地面参考太远导致).
[Pipeline] echo
补地面校正roll校正歪的坑.
[Pipeline] echo
增加上跃检查坑.
[Pipeline] echo
坑洼检测信息合并,栅格投影,聚类和输出.
[Pipeline] echo
海量注释版(过渡态).
[Pipeline] echo
AgeGrid稳态免清(格/沿点)+生命周期质量冻结(取代浅证据特判).
[Pipeline] echo
Co-Authored-By Claude Fable 5 <noreply@anthropic.com>
[Pipeline] echo
DetectV2行程扫描检测winA/winB状态机切段+run归并+两侧地面参考深度+pit_conf时域锁定,调试topic(regions/breaks/runs)与pass1耗时.
[Pipeline] echo
Co-Authored-By Claude Fable 5 <noreply@anthropic.com>
[Pipeline] echo
UpdateGridV2纯统计投影全点λ加权单高斯(均值+分布范围),与UpdateGrid手动切换.
[Pipeline] echo
Co-Authored-By Claude Fable 5 <noreply@anthropic.com>
[Pipeline] echo
切回Detect,取消通道二回溯.
[Pipeline] echo
Co-Authored-By Claude Fable 5 <noreply@anthropic.com>
[Pipeline] echo
DetectV3大小栅格两级检测1m大格聚类+行列最近地面参考+真假判定与label反哺,窗口原点对齐整米.
[Pipeline] echo
Co-Authored-By Claude Fable 5 <noreply@anthropic.com>
[Pipeline] echo
large grid update.
[Pipeline] echo
注释不使用的代码.
[Pipeline] echo
调整坑洼点输出策略.
[Pipeline] echo
前港洒水车和清扫车类别稳定策略.
[Pipeline] echo
烟台新过滤策略.
[Pipeline] echo
烟台新加过滤策略先触发录包搜集信息.
[Pipeline] echo
更新苏溪模型.
[Pipeline] echo
更新苏溪模型.
[Pipeline] echo
increase score threshold of car in qiangang.
[Pipeline] echo
灰尘误检土堆trick过滤.
[Pipeline] echo
灰尘误检土堆修复.
[Pipeline] echo
cone strategy adjust.
[Pipeline] echo
合并rc_dev_trt10坑洼检测.
[Pipeline] echo
前港坑洼调试topic.
[Pipeline] echo
振石链板机边沿防护功能.
[Pipeline] echo
192点过滤0.1米以下的点.
[Pipeline] echo
梁山20尺挂模型跑40尺挂车增加车挂范围NMS过滤逻辑.
[Pipeline] echo
链板机负障碍物拟合优化.
[Pipeline] echo
链板机防护参数优化.
[Pipeline] echo
振石链板机防掉坑功能加上地图门控.
[Pipeline] echo
魏桥切换专有模型.
[Pipeline] echo
堆场内og点聚类,取消自车所在像素约束.
[Pipeline] echo
苏溪岸桥场桥类别误检处理.
[Pipeline] echo
堆高机近处作业时检测丢失后稳定策略.
[Pipeline] echo
洋浦模型nms阈值更新.
[Pipeline] echo
中铁联集浅沟沟沿检出适配,增加地面->地面label判断分支.
[Pipeline] echo
武汉J4单边沟沿时域稳定适配.
[Pipeline] echo
中铁联集沟沿时域稳定及定位跳变防护.
[Pipeline] echo
武汉沟沿定位跳变防护策略.
[Pipeline] echo
围栏线过滤点不区分高度
[Pipeline] echo
无定位消息时发布base_ground_trailer->base_ground tf, 参数控制.
[Pipeline] echo
修复后向雷达分割节点崩溃.
[Pipeline] echo
振石新模型.
[Pipeline] echo
津西保温挂前脸适配.
[Pipeline] echo
津西保温挂适配优化.
[Pipeline] echo
静态遮挡障碍物滞留时间由无限期改为60s.
[Pipeline] echo
武汉986适配.
[Pipeline] echo
det土堆误检过滤条件由自车在堆场改为点在堆场.
[Pipeline] echo
挡流板提取范围可视化.
[Pipeline] echo
土堆识别seg结果不加反射强度1以上条件约束.
[Pipeline] echo
新增像素58小汽车不输出区,区内car不出obj框,同步模型打开car.
[Pipeline] echo
补充后处理底盘消息依赖不合理的todo注释.
[Pipeline] echo
待办kalman Q矩阵错误修正.
[Pipeline] echo
增加前箱面/侧向面角度与挡流板角度精度差异统计监测和日志打印.
[Pipeline] echo
津西保温挂大角度丢弃前箱面值.
[Pipeline] echo
自车重叠过滤类别加入car.
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
模型子模块指向f0071fd(洋浦cp_base_hnyp_ft_new17 epoch_10,青岛cp_agn)
[Pipeline] echo
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.
[Pipeline] echo
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
[Pipeline] echo
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.
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
删除seg后向og迁移后残留的output_og_flag注释和plantuml里seg的PublishOgMsg
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
路沿栅格key改为无符号移位
[Pipeline] echo
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
[Pipeline] echo
路沿点链解码只收类型1~4,点下标越界跳过,防畸形消息
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
dld模型初始化期间发302011,TensorRT cache写失败发302012
[Pipeline] echo
模型子模块指向烟台NMS_BOARD打开car压pedestrian
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
dld地图补单像素0值缝改为pre_cloud.fill_map_zero_gap控制,缺省关
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
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
[Pipeline] echo
dld模型子模块更新到5d0eda3, 恢复误删的董家口模型dongfen/cp
[Pipeline] echo
新增津西OG清除区像素61(filter_jx_no_og开关),区内OG/车周og/后向og删除且不进cluster OG,行人骑车三轮框内点保留
[Pipeline] echo
新增refuse_revised_when_parked开关,P档且车速<0.5km/h时挂角校正值不进EKF只打日志
[Pipeline] echo
refuse_revised_when_parked车速阈值0.5km/h改为0.1km/h
[Pipeline] echo
dld模型子模块更新到c134065,新增津西模型tangshanjinxi/cp
[Pipeline] echo
dld新增reach_handler_need_stacker(缺省关),抓夹框与stacker框最近距离<2m才输出,单独的抓夹删框
[Pipeline] echo
引入tools/update_perception_map.py和20个场地长名感知地图(取自a79f1ddb,不含地图原点对齐代码)
[Pipeline] echo
洋浦地图固定取v1.0.x版本线(v3.0.x原点不在洋浦),更新jinxi/zhenshi/yangpugang地图
[Pipeline] echo
津西61区删框开关filter_jx_no_og_obj(默认关),车辆类静止框凸包全在61/图外/灯柱区时删,解决路沿外灌木误检成车挡停
[Pipeline] echo
感知地图按maps_2.0更新12个场地(津西v1.0.12含61区,武汉v1.0.30,洋浦v1.0.135等)
[Pipeline] echo
run_perception.sh加港口代码/auto参数启动前替换感知地图,update_perception_map.py补场地-港口代码-档名对照表
[Pipeline] echo
回放配置补津西AT001-AT004/武汉IGV/下沙AT16车号和driver_set,扩洋浦和前港车号区间
[Pipeline] echo
新增extract_lidar_correction.sh从bag提取禾赛雷达内参,run_driver.sh缺内参时提示并固定TZ=Asia/Shanghai
[Pipeline] echo
回放config.yaml武汉车号区间补到IGV04,与driver_config一致(IGV03原来找不到档)
[Pipeline] echo
dld把/msf/dr_pose(imu位姿)按tf_static换到base_ground再当车体位姿用,修转弯时下一姿态框与跨帧对齐偏差(烟台AGV015车腿点漏出刹停)
[Pipeline] echo
津西感知图问题42/39两段61草带离路面0.8m外侧改11(314像素),删草丛误检行人
[Pipeline] echo
新增津西排气口区像素63(jx_gas_vent_intensity),区内反射强度低于阈值的车周OG点过滤(问题43排气口气团误检行人)
[Pipeline] echo
津西感知图加排气口区像素63(问题43,v1.0.12上3改63共55像素)
[Pipeline] echo
津西感知图排气口区63东扩到路沿内侧、路内边内缩0.2m(问题43,v1.0.12上共59像素)
[Pipeline] echo
津西排气口区63加限高参数jx_gas_vent_z_max(默认1.6),只过滤车体系z低于限高的低反射车周OG点
[Pipeline] echo
合并origin/rc_dev(钢板宽度相关)到本地问题42/43改动
[Pipeline] echo
新增像素64武汉龙门架区,开关filter_wh_gantry打开时滤掉区内车体系z高于wh_gantry_z(默认4.4)的OG点,车周和车周范围外都滤
[Pipeline] echo
dld模型子模块更新到ed05f4a,新增武汉中铁联机模型wuhanzhongtielianji/cp
[Pipeline] echo
武汉42区沟沿栅格低矮点要多帧命中且沿线成段才输出,滤行人腿部残留102散点
[Pipeline] echo
dld新增bumper_rear_x(默认0关闭),本帧seg线车宽内点全落在车尾后沿到车头前沿范围且占一半以上的整条去掉,不进历史和42区栅格
[Pipeline] echo
dld收seg线时本帧去挂车点的,线上落在自车挂车框内的点删掉并重拟合,防侧下雷达扫到挂车底下的边沿连进路沿线作为102输出在挂里
[Pipeline] echo
新增像素65魏桥高度带区,开关filter_wq_z_band打开时滤掉区内车体系z<wq_band_z_min(0.4)或z>wq_band_z_max(2.0)的OG点,车周和车周范围外都滤,debug标234,魏桥感知地图画入该区
[Pipeline] echo
魏桥感知地图像素65区按汇总表截断取整画法重画,669px与地图修改汇总表逐像素一致
[Pipeline] echo
filter_wq_z_band打开时魏桥像素65区内OG点不做cluster OG
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魏桥像素65区obj按地图外处理,加入CheckObjOutmap四处图外判定
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烟台立体车库柱子保留阈值放宽,矮柱grid_cap/cluster_z_hi/体积判据基准0.7->0.8,高柱cluster_z_hi 1.4->1.5,grid_cap 1.5->1.6,解决13车柱子实测偏高0.1~0.15m未标108挡停
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seg下一环点已标障碍物时不再重复写入,修复稀疏点云obj_img_indices_越界崩溃
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新增横向静止车挂一出现就压进或贴近自车挂实测框(EKF挂角)时删框的规则,点留og,解决潍坊A004舱盖板端面误检横向车挂急停,参数remove_lateral_trailer_near_ego/lateral_trailer_near_dist默认关
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webhtml准备完成
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增加吉利锁具控制
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新增吉利锁具控制
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外设命令扩充(需重编外设及rmi)
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增加全量上传topic
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增加消息定义
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增加全量上传topic
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修改东方特钢上装控制枚举
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修改东方特钢上装控制枚举
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合并外设消息
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增加反馈pd类型
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增加全量上传topic
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反馈字段完善
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增加反馈pd类型
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反馈字段完善
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字段修改
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增加6档反馈
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删除.marscode
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对调命令target值
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删除tmp
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webhtml准备完成
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<!DOCTYPE html><html><head><meta charset="utf-8"><title>msg2html</title></head><body><h1>更新内容</h1><h2>模块名: dox</h2><h2>模块名: new_detection</h2><h3>note_out</h3><ul><li>坑点标记,一通修改,还是会有误判.</li><li>坑洼分类重写为单趟外扩(坑/地面/UNDEF一遍标),沿点改紧邻地面判据.</li><li>调整盘踞捞回前向倾斜地面标记&&去除远处误标地下簇(地面参考太远导致).</li><li>补地面校正roll校正歪的坑.</li><li>增加上跃检查坑.</li><li>坑洼检测信息合并,栅格投影,聚类和输出.</li><li>海量注释版(过渡态).</li><li>AgeGrid稳态免清(格/沿点)+生命周期质量冻结(取代浅证据特判).</li><li>Co-Authored-By Claude Fable 5 <noreply@anthropic.com></li><li>DetectV2行程扫描检测winA/winB状态机切段+run归并+两侧地面参考深度+pit_conf时域锁定,调试topic(regions/breaks/runs)与pass1耗时.</li><li>Co-Authored-By Claude Fable 5 <noreply@anthropic.com></li><li>UpdateGridV2纯统计投影全点λ加权单高斯(均值+分布范围),与UpdateGrid手动切换.</li><li>Co-Authored-By Claude Fable 5 <noreply@anthropic.com></li><li>切回Detect,取消通道二回溯.</li><li>Co-Authored-By Claude Fable 5 <noreply@anthropic.com></li><li>DetectV3大小栅格两级检测1m大格聚类+行列最近地面参考+真假判定与label反哺,窗口原点对齐整米.</li><li>Co-Authored-By Claude Fable 5 <noreply@anthropic.com></li><li>large grid update.</li><li>注释不使用的代码.</li><li>调整坑洼点输出策略.</li><li>前港洒水车和清扫车类别稳定策略.</li><li>烟台新过滤策略.</li><li>烟台新加过滤策略先触发录包搜集信息.</li><li>更新苏溪模型.</li><li>更新苏溪模型.</li><li>increase score threshold of car in qiangang.</li><li>灰尘误检土堆trick过滤.</li><li>灰尘误检土堆修复.</li><li>cone strategy adjust.</li><li>合并rc_dev_trt10坑洼检测.</li><li>前港坑洼调试topic.</li><li>振石链板机边沿防护功能.</li><li>192点过滤0.1米以下的点.</li><li>梁山20尺挂模型跑40尺挂车增加车挂范围NMS过滤逻辑.</li><li>链板机负障碍物拟合优化.</li><li>链板机防护参数优化.</li><li>振石链板机防掉坑功能加上地图门控.</li><li>魏桥切换专有模型.</li><li> 堆场内og点聚类,取消自车所在像素约束.</li><li>苏溪岸桥场桥类别误检处理.</li><li>堆高机近处作业时检测丢失后稳定策略.</li><li>洋浦模型nms阈值更新.</li><li>中铁联集浅沟沟沿检出适配,增加地面->地面label判断分支.</li><li>武汉J4单边沟沿时域稳定适配.</li><li>中铁联集沟沿时域稳定及定位跳变防护.</li><li>武汉沟沿定位跳变防护策略.</li><li> 围栏线过滤点不区分高度</li><li>无定位消息时发布base_ground_trailer->base_ground tf, 参数控制.</li><li>修复后向雷达分割节点崩溃.</li><li>振石新模型.</li><li>津西保温挂前脸适配.</li><li>津西保温挂适配优化.</li><li>静态遮挡障碍物滞留时间由无限期改为60s.</li><li>武汉986适配.</li><li>det土堆误检过滤条件由自车在堆场改为点在堆场.</li><li>挡流板提取范围可视化.</li><li> 土堆识别seg结果不加反射强度1以上条件约束.</li><li>新增像素58小汽车不输出区,区内car不出obj框,同步模型打开car.</li><li>补充后处理底盘消息依赖不合理的todo注释.</li><li>待办kalman Q矩阵错误修正.</li><li>增加前箱面/侧向面角度与挡流板角度精度差异统计监测和日志打印.</li><li>津西保温挂大角度丢弃前箱面值.</li><li>自车重叠过滤类别加入car.</li><li>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</li><li>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</li><li>模型子模块指向f0071fd(洋浦cp_base_hnyp_ft_new17 epoch_10,青岛cp_agn)</li><li> 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.</li><li>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</li><li>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.</li><li>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</li><li>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</li><li>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</li><li>删除seg后向og迁移后残留的output_og_flag注释和plantuml里seg的PublishOgMsg</li><li>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</li><li>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</li><li>路沿栅格key改为无符号移位</li><li>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</li><li>路沿点链解码只收类型1~4,点下标越界跳过,防畸形消息</li><li>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</li><li>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</li><li>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</li><li>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</li><li>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</li><li>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</li><li>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</li><li>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</li><li>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</li><li>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</li><li>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</li><li>dld模型初始化期间发302011,TensorRT cache写失败发302012</li><li>模型子模块指向烟台NMS_BOARD打开car压pedestrian</li><li>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</li><li>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</li><li>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</li><li>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</li><li>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</li><li>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</li><li>dld地图补单像素0值缝改为pre_cloud.fill_map_zero_gap控制,缺省关</li><li>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</li><li>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</li><li>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</li><li>dld模型子模块更新到5d0eda3, 恢复误删的董家口模型dongfen/cp</li><li>新增津西OG清除区像素61(filter_jx_no_og开关),区内OG/车周og/后向og删除且不进cluster OG,行人骑车三轮框内点保留</li><li>新增refuse_revised_when_parked开关,P档且车速<0.5km/h时挂角校正值不进EKF只打日志</li><li>refuse_revised_when_parked车速阈值0.5km/h改为0.1km/h</li><li>dld模型子模块更新到c134065,新增津西模型tangshanjinxi/cp</li><li>dld新增reach_handler_need_stacker(缺省关),抓夹框与stacker框最近距离<2m才输出,单独的抓夹删框</li><li>引入tools/update_perception_map.py和20个场地长名感知地图(取自a79f1ddb,不含地图原点对齐代码)</li><li>洋浦地图固定取v1.0.x版本线(v3.0.x原点不在洋浦),更新jinxi/zhenshi/yangpugang地图</li><li>津西61区删框开关filter_jx_no_og_obj(默认关),车辆类静止框凸包全在61/图外/灯柱区时删,解决路沿外灌木误检成车挡停</li><li>感知地图按maps_2.0更新12个场地(津西v1.0.12含61区,武汉v1.0.30,洋浦v1.0.135等)</li><li>run_perception.sh加港口代码/auto参数启动前替换感知地图,update_perception_map.py补场地-港口代码-档名对照表</li><li>回放配置补津西AT001-AT004/武汉IGV/下沙AT16车号和driver_set,扩洋浦和前港车号区间</li><li>新增extract_lidar_correction.sh从bag提取禾赛雷达内参,run_driver.sh缺内参时提示并固定TZ=Asia/Shanghai</li><li>回放config.yaml武汉车号区间补到IGV04,与driver_config一致(IGV03原来找不到档)</li><li>dld把/msf/dr_pose(imu位姿)按tf_static换到base_ground再当车体位姿用,修转弯时下一姿态框与跨帧对齐偏差(烟台AGV015车腿点漏出刹停)</li><li>津西感知图问题42/39两段61草带离路面0.8m外侧改11(314像素),删草丛误检行人</li><li>新增津西排气口区像素63(jx_gas_vent_intensity),区内反射强度低于阈值的车周OG点过滤(问题43排气口气团误检行人)</li><li>津西感知图加排气口区像素63(问题43,v1.0.12上3改63共55像素)</li><li>津西感知图排气口区63东扩到路沿内侧、路内边内缩0.2m(问题43,v1.0.12上共59像素)</li><li>津西排气口区63加限高参数jx_gas_vent_z_max(默认1.6),只过滤车体系z低于限高的低反射车周OG点</li><li>合并origin/rc_dev(钢板宽度相关)到本地问题42/43改动</li><li>新增像素64武汉龙门架区,开关filter_wh_gantry打开时滤掉区内车体系z高于wh_gantry_z(默认4.4)的OG点,车周和车周范围外都滤</li><li>dld模型子模块更新到ed05f4a,新增武汉中铁联机模型wuhanzhongtielianji/cp</li><li>武汉42区沟沿栅格低矮点要多帧命中且沿线成段才输出,滤行人腿部残留102散点</li><li>dld新增bumper_rear_x(默认0关闭),本帧seg线车宽内点全落在车尾后沿到车头前沿范围且占一半以上的整条去掉,不进历史和42区栅格</li><li>dld收seg线时本帧去挂车点的,线上落在自车挂车框内的点删掉并重拟合,防侧下雷达扫到挂车底下的边沿连进路沿线作为102输出在挂里</li><li>新增像素65魏桥高度带区,开关filter_wq_z_band打开时滤掉区内车体系z<wq_band_z_min(0.4)或z>wq_band_z_max(2.0)的OG点,车周和车周范围外都滤,debug标234,魏桥感知地图画入该区</li><li>魏桥感知地图像素65区按汇总表截断取整画法重画,669px与地图修改汇总表逐像素一致</li><li>filter_wq_z_band打开时魏桥像素65区内OG点不做cluster OG</li><li>魏桥像素65区obj按地图外处理,加入CheckObjOutmap四处图外判定</li><li>烟台立体车库柱子保留阈值放宽,矮柱grid_cap/cluster_z_hi/体积判据基准0.7->0.8,高柱cluster_z_hi 1.4->1.5,grid_cap 1.5->1.6,解决13车柱子实测偏高0.1~0.15m未标108挡停</li><li>seg下一环点已标障碍物时不再重复写入,修复稀疏点云obj_img_indices_越界崩溃</li><li>新增横向静止车挂一出现就压进或贴近自车挂实测框(EKF挂角)时删框的规则,点留og,解决潍坊A004舱盖板端面误检横向车挂急停,参数remove_lateral_trailer_near_ego/lateral_trailer_near_dist默认关</li></ul><h2>模块名: shared_msgs</h2><h3>feat_out</h3><ul><li>增加吉利锁具控制</li><li>新增吉利锁具控制</li><li>外设命令扩充(需重编外设及rmi)</li><li>增加全量上传topic</li><li>增加消息定义</li><li>增加全量上传topic</li><li>修改东方特钢上装控制枚举</li><li>修改东方特钢上装控制枚举</li><li>合并外设消息</li><li>增加反馈pd类型</li><li>增加全量上传topic</li><li>反馈字段完善</li><li>增加反馈pd类型</li><li>反馈字段完善</li><li>字段修改</li><li>增加6档反馈</li><li>删除.marscode</li><li>对调命令target值</li><li>删除tmp</li></ul></body></html>
[Pipeline] echo
msg已经准备完成
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+ touch /senior/workspace/orin-module-slave64/slave/index.html
[Pipeline] writeFile
[Pipeline] echo
html更新完成
[Pipeline] publishHTML
[htmlpublisher] Archiving HTML reports...
[htmlpublisher] Archiving at BUILD level /senior/workspace/orin-module-slave64/slave to /var/lib/jenkins/jobs/orin-module-slave64/builds/1827/htmlreports/update_20message
[Pipeline] wrap
[Pipeline] {
[Pipeline] script
[Pipeline] {
[Pipeline] echo
user: , telphone: null
[Pipeline] echo
用户不存在列表中
[Pipeline] }
[Pipeline] // script
[Pipeline] sh
+ curl -X POST 'http://143.64.81.104:8080/robot/send?access_token=c4e318472bbd19d0449efb4060de213f730dc32b4bf44819381a8fa7adf61983' -H 'Content-Type: application/json' -d '{"msgtype": "markdown","markdown": {"title":"jenkins通知","text": "# 版本发布通知
### [烟台点云检测（烟台感知近期修改）-13车]
---
- 版本名： [module_slave_2026-10-27_22-13-30]
- 状态：<font color=#01B468> 编译成功 </font>
- 执行人：liulianqi
- 更新模块:
[new_detection][shared_msgs]
- 上传平台: public yantai
- 任务号: [orin-module-slave64 #1827]
- 具体更新内容点此链接 [该版本详细内容点此](http://jenkins.vehicle.senior.auto:8080/jenkins/job/orin-module-slave64/1827/update_20message/index.html)
> 请ota发布同学尽快发布验证，并在群里同步发布信息～ "},"at": {"atMobiles": [""],"isAtAll": "false"} }'
% Total % Received % Xferd Average Speed Time Time Time Current
Dload Upload Total Spent Left Speed
0 0 0 0 0 0 0 0 --:--:-- --:--:-- --:--:-- 0
100 763 100 27 100 736 278 7587 --:--:-- --:--:-- --:--:-- 7865
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{"errcode":0,"errmsg":"ok"}
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[Pipeline] // stage
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[Pipeline] // timeout
[Pipeline] }
Lock released on resource [Label: orin-arm, Quantity: 1]
[Pipeline] // lock
[Pipeline] }
[Pipeline] // withEnv
[Pipeline] }
[Pipeline] // withEnv
[Pipeline] }
[Pipeline] // node
[Pipeline] End of Pipeline
Finished: SUCCESS
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