Changes

feat(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>

note_out:车挂角度校正添加箱体面估计新算法.

note_out:车挂角度校正箱体面算法修改.

note_out:车挂角度校正日志和显示修改.

note_out:前箱面由小格选单点变为选一定范围内的点.

note_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.

note_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.

note_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.

note_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.

note_out:修改enable_expand_filter_用法.

note_out:增加各来源角度框的可视化.

note_out:无参考角度初始角度估计优化.

note_out:无参考角度时车挂角度搜索第二套方法.

note_out:第二套无参考初始挂角查找优化.

trailer 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>

trailer 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>

trailer 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>

note_out:无初始角度适配小角度.

note_out:删除第一种求初始角度方法.

note_out:初始角度查找.

note_out:修改暂存.

龙须点里不满足细线的点抛弃

note_out:烟台增加立体车库防护功能:高墙面拟合输出110点.

龙须点线粗细约束&&x向和z向的离群值剔除

note_out:大榭像素42区域低矮障碍物点加入102点.

note_out:无初始角度时估计车挂初始角度v3最终版.

note_out:调节箱面角度的置信度.

note_out:双侧挡流板面拟合角度值相互校验条件放松.

note_out:车挂日志打印条件修改.

note_out:恢复仅无初始车挂角时才调用周围搜索.

note_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.

note_out: 挡流板置信度校验去除score1,2逻辑&&代码优化.

note_out:参数修改.

note_out:增加箱体面计算挂角的注释.

note_out:拟合改为pca,增加箱体面角度y向箱宽校验.

note_out:pca去噪点改为单次.

note_out:调试日志,topic清理和隐藏.

note_out:箱面半宽调整.

note_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.

围栏点也经龙须点筛选标记

参数控制是否使用“收紧龙须点”的规则，洋浦不收紧

note_out: 优化地面分割后处理:聚类和分类逻辑优化.

note_out: seg坑沿点辨识优化.

note_out:seg判坑簇修改条件.

:new: 增加配置全局锚定第一帧地面矫正系数，高层图平滑加载