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 第4路图像输入；raw / compressed 二选一，由 sync_camera_compressed 控制 # sync_camera_compressed = 0: sync_camera_topic 应该是 sensor_msgs/Image (bgr8)，例如 /odin1/image # sync_camera_compressed = 1: sync_camera_topic 应该是 sensor_msgs/CompressedImage，例如 /odin1/image/compressed # real run: 0, 0 0 ; dataset: 1 1 1 ; special: 0 1 1 sync_camera_topic: "/odin1/image" sync_camera_compressed: 1 # sync_camera_topic would be default added /compressed # 无论输入是 raw 还是 compressed，都额外发布 {sync_topic_prefix}/image/compressed always_send_sync_compressed: 1 # 控制是否发布 {sync_topic_prefix}/cloud_slam always_send_sync_cloud_slam: 1 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 # Center-cropped detection ROI: the primary YOLO pass sees only this # square region (pixels), improving effective resolution on central # subjects at the cost of ignoring edge strips. Set 0 to disable. # Detection ROI applied before the primary YOLO pass. Horizontal placement # is always centered; y_offset is pixels from image top (set -1 to auto- # center vertically). For a 1600x1296 image with ROI 1440x1080, centered # vertically would be y_offset=108 ((1296-1080)/2); y_offset=54 biases the # ROI slightly upward so heads/torsos stay inside when the camera tilts down. target_detection_roi_enabled: 1 target_detection_roi_width_px: 1440 target_detection_roi_height_px: 1080 target_detection_roi_y_offset_px: 54 target_detection_roi_size_px: 1080 target_yolo_engine: "/home/hjy/HJY/Codes/AMP_ws/TargetPrediction/deploy/model/yolo26m-pose_960.trt" # 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 debug_reid: 1 target_reid_enable: 1 target_reid_engine: "/home/hjy/HJY/Codes/AMP_ws/TargetPrediction/deploy/model/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: 3 target_reid_lost_timeout_frames: 150 target_reid_gallery_size: 8 target_reid_input_height: 256 target_reid_input_width: 128 target_reid_feature_dim: 512 target_reid_max_batch_size: 8 # Edge margin (px) the ReID crop must keep from each image border. 0 lets # close-range crops (head out of frame) still feed ReID, which prevents # stable_id inflation when the primary target walks up to the camera. target_reid_crop_edge_margin_px: 0 # 3D-proximity fallback binding for the follow target when the ReID crop # is unavailable. Rescues the stable_id by pure spatial consistency with # a tighter distance envelope than the regular 3D gate. target_reid_3d_fallback_enabled: 1 target_reid_3d_fallback_base_m: 0.75 target_reid_3d_fallback_per_frame_m: 0.05 # A ByteTrack raw_id must persist for N consecutive frames (failing both # fast-path and ReID rebind) before a fresh stable_id is allocated for it. # Filters out short-lived ByteTrack ID flicker. Set 1 to disable. target_reid_confirm_hits_before_allocate: 5 # 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