143 lines
6.4 KiB
YAML
143 lines
6.4 KiB
YAML
register_keys:
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# if off, allow connection even if usb connection is below usb 3.0
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# ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer
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strict_usb3.0_check: 0 # 0: off: 1: on;
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# 0: use odin internal system time as data time stamp, typical and recommended;
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# 1: use host ros time (upon receive) as data time stamp, only use if you specifically require this setup, not recommended for most users
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# 2: align odin1 time to host time, timestamp is the sensor data reception time on host time axis
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use_host_ros_time: 0 # Changed to 0 to use device timestamp without PTP offset correction
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streamctrl: 1 # 0: off; 1: on
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# original rgb data in jpeg format from device
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sendrgbcompressed: 1 # 0: off; 1: on
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# RGB data, decoded from original jpeg data from device, bgr8 format
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# Processed on host device
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sendrgb: 1 # 0: off; 1: on
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# undistort rgb image processed from decoded rgb data.
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# depends on sendrgb. related camera parameters can be found in ws/src/odin_ros_driver/config/calib.yaml
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# Processed on host device
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sendrgbundistort: 0 # 0: off; 1: on.
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# IMU data
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sendimu: 1 # 0: off; 1: on
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# SDK IMU smooth sending feature
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# When enabled, SDK will send IMU data at precise intervals (default 400Hz)
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# using a dedicated high-priority thread to reduce jitter and timing variance
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enable_imu_smooth: 0 # 0: disable SDK IMU smooth sending; 1: enable (default)
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# SDK IMU smooth sending frequency in Hz (only effective when enable_imu_smooth = 1)
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imu_smooth_frequency: 400 # 1-1000 Hz, recommended 400 Hz
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# Odometry data
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sendodom: 1 # 0: off; 1: on
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# TF from odom to base_link. Leave it on unless you specifically need it off.
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# ATTENTION: critical for rviz to show cloud_raw.
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send_odom_baselink_tf: 1 # 0: off; 1: on.
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# raw dtof data
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senddtof: 1 # 0: off; 1: on
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cloud_raw_confidence_threshold: 35 # please refer to readme for more details
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# dtof sensor frame rate. Supported values: 100 (10fps) or 145 (14.5fps)
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# Higher frame rate provides smoother point cloud data but may increase data bandwidth
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# Note: value is multiplied by 10 (e.g., 145 means 14.5fps)
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dtof_fps: 145 # 100: 10fps; 145: 14.5fps
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# slam cloud data
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sendcloudslam: 1 # 0: off; 1: on
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# processed with raw point cloud, rgb image, and calib.yaml from device
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# Processed on host device
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sendcloudrender: 0 # 0: off; 1: on
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# depth completion demo, high computing resource usage.
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# for more information please refer to the readme file.
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# Processed on host device
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senddepth: 0 # 0: off; 1: on
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# cloud reprojection demo, projects cloud_slam to camera image using odometry
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# Processed on host device
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sendreprojection: 1 # 0: off; 1: on
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# Legacy overlay node (optional); cloud_reprojection now does 4-way sync + combined jpeg
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sendoverlay: 0
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overlay_reprojected_topic: "/odin1/reprojected_image"
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overlay_camera_topic: "/odin1/image"
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overlay_output_topic: "/odin1/combined_image/compressed"
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overlay_jpeg_quality: 85
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# cloud_reprojection: 4th input = raw camera (sensor_msgs/Image bgr8), e.g. /odin1/image
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sync_camera_topic: "/odin1/image"
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sync_topic_prefix: "/odin1/sync"
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combined_compressed_topic: "/odin1/combined_image/compressed"
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combined_jpeg_quality: 85
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# 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
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send_combined_compressed: 0
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# 0: 不发布 overlay（不创建 publisher）；1: 发布 sensor_msgs/CompressedImage JPEG，话题 {sync_topic_prefix}/overlay_img/compressed
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send_overlay: 1
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overlay_jpeg_quality: 85
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# target observation processing on synced image + cloud_in_cam
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# 0: off; 1: on
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process_target_observation: 1
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# draw target observation result on overlay image and print debug info
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# 0: off; 1: on
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debug: 1
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# lazy ReID only runs after the current ByteTrack target is lost
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# first valid frame still bootstraps by choosing the target closest to image center
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# if a frame misses all detections, retry YOLO once inside a local ROI around the previous target bbox
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target_lost_detection_compensation_enable: 1
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target_lost_detection_roi_scale: 2.0
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target_lost_detection_roi_min_size_px: 192
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target_reid_enable: 1
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target_reid_engine: "/home/hjy/HJY/Codes/AMP_ws/TargetPrediction/models/target_reid_osnet_x0_25_dukemtmcreid.trt"
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target_reid_match_threshold: 0.65
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target_reid_gap_threshold: 0.10
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target_reid_min_crop_area: 2000.0
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target_reid_max_crop_aspect_ratio: 0.90
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target_reid_feature_update_interval: 5
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target_reid_lost_timeout_frames: 150
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target_reid_gallery_size: 10
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target_reid_input_height: 256
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target_reid_input_width: 128
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target_reid_feature_dim: 512
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target_reid_max_batch_size: 8
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# record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software.
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# save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/
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# ATTENTION: please copy the full folder for post-processing.
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recorddata: 0 # 0: off; 1: on
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# Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv
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devstatuslog: 1 # 0: off; 1: on.
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save_log: 0 # 0: off; 1: on;
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# raw dtof sensor intensity data in gray format, mostly for debug purpose.
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pubintensitygray: 0 # 0: off; 1: on
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showpath: 0 # 0: off; 1: on
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showcamerapose: 0 # 0: off; 1: on
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custom_map_mode: 1 # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
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custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
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relocalization_map_abs_path: "" # must be set for Relocalization mode or will fail
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# To get the mapping result file, please use the set_param.sh script provided: "./set_param.sh save_map 1"
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save_map: 0
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mapping_result_dest_dir: "" # "": if not specified, save to default location of {ws}/src/odin_ros_driver/map/{driver_start_time}/
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mapping_result_file_name: "" # "": if not specified, save to location above with default file name of map_{map_save_time}.bin
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# Image mask transfer settings
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sendimagemask: 0 # 0: off; 1: on - transfer image mask to device on startup
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image_mask_abs_path: "" # absolute path to the image mask file (e.g., /path/to/mask.png(1600x1296))
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# Algorithm reset settings
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resetalgo: 0 # 0: off; 1: on - send algo_reset command to device on startup
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