涉及多个topic，对比文件diff，之后修改 https://gerrit.senseauto.com/q/topic:%22rs_fusion_op%22+(status:open%20OR%20status:merged) tlsr_tracking_op.cpp bbox_fusion_resize_crop_op.hpp bbox_fusion_resize_crop_op.cpp perception_camera_object.proto front_view_pipeline_center_camera_fov120_tlsr.prototxt 主要是加参数
https://gerrit.senseauto.com/q/topic:%22rs_trk_turn_opt%22+(status:open%20OR%20status:merged) similarity_util.hpp bbox_motion.hpp
https://gerrit.senseauto.com/c/sap_camera/+/193058 bbox_fusion_resize_crop_op.cpp tlsr_tracking_op.cpp
https://gerrit.senseauto.com/q/topic:%22tlsr_tracking_opt%22+(status:open%20OR%20status:merged) perception_camera_object.proto tlsr_tracking_op.hpp tlsr_tracking_op.cpp front_view_pipeline_center_camera_fov120_tlsr.prototxt
https://gerrit.senseauto.com/q/topic:%22unidet_v1.5.b%22+(status:open%20OR%20status:merged) — 对齐tlsr_tracking即可，上面的依赖这个
https://gerrit.senseauto.com/q/topic:%22tlsr_miss_category%22+(status:open%20OR%20status:merged) adas_lkf_bbox_tracker.hpp front_view_pipeline_center_camera_fov120_tlsr.prototxt参数看下对齐
https://gerrit.senseauto.com/c/sap_camera/+/176427 object_common.hpp obstacle_tracking_op.cpp
总结下：
直接同步的：
tlsr_tracking_op.hpp
tlsr_tracking_op.cpp
similarity_util.hpp
bbox_motion.hpp
obstacle_tracking_op.cpp
adas_lkf_bbox_tracker.hpp
添加参数： front_view_pipeline_center_camera_fov120_tlsr.prototxt 主要是加参数 front_view_pipeline_center_camera_fov120_tlsr.prototxt front_view_pipeline_center_camera_fov120_tlsr.prototxt参数看下对齐 perception_camera_object.proto object_common.hpp perception_camera_object.proto
Pasted image 20240321140941.png yuv
| 模型 | 单次推理耗时 | 实车平均推理耗时 | 单次推理DDR读写量 |
|---|---|---|---|
| backbone(pvb lane) | 7.8ms | 19.3ms | 55.7M |
| pvb_head | 15.9ms | 19.5ms | 72.1M |
| lane_head | 3.6ms | 7.9ms | 20.2M |
| semantic | 19.3ms | 25.3ms | 186.7M |
| blockage | 5.7ms | 12.6ms | 21.4M |
| 模型 | 单次推理耗时 | 实车平均推理耗时 | 单次推理DDR读写量 |
|---|---|---|---|
| backbone(pvb lane) | 7.8ms | 19.3ms | 55.7M |
| pvb_head | 15.9ms | 19.5ms | 72.1M |
| lane_head | 3.6ms | 7.9ms | 20.2M |
| semantic | 19.3ms | 25.3ms | 186.7M |
| blockage | 5.7ms | 12.6ms | 21.4M |