odin_ros_driver1/config/control_command.yaml

register_keys:
  # if off, allow connection even if usb connection is below usb 3.0
  # ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer
  strict_usb3.0_check: 0  # 0: off: 1: on;

  # 0: use odin internal system time as data time stamp, typical and recommended;
  # 1: use host ros time (upon receive) as data time stamp, only use if you specifically require this setup, not recommended for most users
  # 2: align odin1 time to host time, timestamp is the sensor data reception time on host time axis
  use_host_ros_time: 0 # Changed to 0 to use device timestamp without PTP offset correction

  streamctrl: 1           # 0: off; 1: on

  # original rgb data in jpeg format from device
  sendrgbcompressed: 1    # 0: off; 1: on

  # RGB data, decoded from original jpeg data from device, bgr8 format
  # Processed on host device
  sendrgb: 1              # 0: off; 1: on

  # undistort rgb image processed from decoded rgb data.
  # depends on sendrgb. related camera parameters can be found in ws/src/odin_ros_driver/config/calib.yaml
  # Processed on host device
  sendrgbundistort: 0     # 0: off; 1: on.

  # IMU data
  sendimu: 1              # 0: off; 1: on

  # SDK IMU smooth sending feature
  # When enabled, SDK will send IMU data at precise intervals (default 400Hz) 
  # using a dedicated high-priority thread to reduce jitter and timing variance
  enable_imu_smooth: 0    # 0: disable SDK IMU smooth sending; 1: enable (default)

  # SDK IMU smooth sending frequency in Hz (only effective when enable_imu_smooth = 1)
  imu_smooth_frequency: 400  # 1-1000 Hz, recommended 400 Hz

  # Odometry data
  sendodom: 1             # 0: off; 1: on

  # TF from odom to base_link. Leave it on unless you specifically need it off.
  # ATTENTION: critical for rviz to show cloud_raw.
  send_odom_baselink_tf: 1 # 0: off; 1: on.

  # raw dtof data
  senddtof: 1             # 0: off; 1: on
  cloud_raw_confidence_threshold: 35 # please refer to readme for more details
  
  # dtof sensor frame rate. Supported values: 100 (10fps) or 145 (14.5fps)
  # Higher frame rate provides smoother point cloud data but may increase data bandwidth
  # Note: value is multiplied by 10 (e.g., 145 means 14.5fps)
  dtof_fps: 145           # 100: 10fps; 145: 14.5fps

  # slam cloud data
  sendcloudslam: 1        # 0: off; 1: on

  # processed with raw point cloud, rgb image, and calib.yaml from device
  # Processed on host device
  sendcloudrender: 0      # 0: off; 1: on

  # depth completion demo, high computing resource usage. 
  # for more information please refer to the readme file.
  # Processed on host device
  senddepth: 0            # 0: off; 1: on

  # cloud reprojection demo, projects cloud_slam to camera image using odometry
  # Processed on host device
  sendreprojection: 1    # 0: off; 1: on

  # Legacy overlay node (optional); cloud_reprojection now does 4-way sync + combined jpeg
  sendoverlay: 0
  overlay_reprojected_topic: "/odin1/reprojected_image"
  overlay_camera_topic: "/odin1/image"
  overlay_output_topic: "/odin1/combined_image/compressed"
  overlay_jpeg_quality: 85

  # cloud_reprojection: 4th input = raw camera (sensor_msgs/Image bgr8), e.g. /odin1/image
  sync_camera_topic: "/odin1/image"
  sync_topic_prefix: "/odin1/sync"
  combined_compressed_topic: "/odin1/combined_image/compressed"
  combined_jpeg_quality: 85
  # 0: 不发布 combined 拼接 JPEG，不创建该 publisher（省 CPU/带宽）；1: 发布 depth|camera 拼接图
  send_combined_compressed: 0
  # 0: 不发布 overlay（不创建 publisher）；1: 发布 sensor_msgs/CompressedImage JPEG，话题 {sync_topic_prefix}/overlay_img/compressed
  send_overlay: 1
  overlay_jpeg_quality: 85

  # target observation processing on synced image + cloud_in_cam
  # 0: off; 1: on
  process_target_observation: 1
  # draw target observation result on overlay image and print debug info
  # 0: off; 1: on
  debug: 1
  # lazy ReID only runs after the current ByteTrack target is lost
  # first valid frame still bootstraps by choosing the target closest to image center
  # if a frame misses all detections, retry YOLO once inside a local ROI around the previous target bbox
  target_lost_detection_compensation_enable: 1
  target_lost_detection_roi_scale: 2.0
  target_lost_detection_roi_min_size_px: 192
  target_reid_enable: 1
  target_reid_engine: "/home/hjy/HJY/Codes/AMP_ws/TargetPrediction/models/target_reid_osnet_x0_25_dukemtmcreid.trt"
  target_reid_match_threshold: 0.65
  target_reid_gap_threshold: 0.10
  target_reid_min_crop_area: 2000.0
  target_reid_max_crop_aspect_ratio: 0.90
  target_reid_feature_update_interval: 5
  target_reid_lost_timeout_frames: 150
  target_reid_gallery_size: 10
  target_reid_input_height: 256
  target_reid_input_width: 128
  target_reid_feature_dim: 512
  target_reid_max_batch_size: 8

  # record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software. 
  # save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/
  # ATTENTION: please copy the full folder for post-processing.
  recorddata: 0           # 0: off; 1: on

  # Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv
  devstatuslog: 1         # 0: off; 1: on.

  save_log: 0 # 0: off; 1: on; 

  # raw dtof sensor intensity data in gray format, mostly for debug purpose.
  pubintensitygray: 0     # 0: off; 1: on

  showpath: 0             # 0: off; 1: on
  showcamerapose: 0       # 0: off; 1: on
  
  custom_map_mode: 1      # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
  custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
  relocalization_map_abs_path: "" # must be set for Relocalization mode or will fail

  # To get the mapping result file, please use the set_param.sh script provided: "./set_param.sh save_map 1"
  save_map: 0
  mapping_result_dest_dir: "" # "": if not specified, save to default location of {ws}/src/odin_ros_driver/map/{driver_start_time}/
  mapping_result_file_name: "" # "": if not specified, save to location above with default file name of map_{map_save_time}.bin

  # Image mask transfer settings
  sendimagemask: 0        # 0: off; 1: on - transfer image mask to device on startup
  image_mask_abs_path: "" # absolute path to the image mask file (e.g., /path/to/mask.png(1600x1296))

  # Algorithm reset settings
  resetalgo: 0            # 0: off; 1: on - send algo_reset command to device on startup