386 lines
8.8 KiB
JSON
386 lines
8.8 KiB
JSON
{
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"app": {
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"title": "Unitree G1 - SLAM Commander (PROD)",
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"maps_dir": "DataMap"
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},
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"network": {
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"default_interface": "enp3s0",
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"default_host_ip": "192.168.123.222"
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},
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"livox": {
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"config_file": "mid360_config.json"
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},
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"livox_debug": {
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"enabled": false,
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"print_every_n_frames": 20
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},
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"slam": {
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"max_range": 50.0,
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"slam_voxel_size": 0.12,
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"pre_downsample_stride": 1,
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"keyframe": {
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"enabled": false,
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"min_translation_m": 0.10,
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"min_rotation_deg": 5.0
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}
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},
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"filter": {
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"voxel_size": 0.20,
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"hits_threshold": 4,
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"window_sec": 1.0,
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"strict_sec": 3.0,
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"use_strict": false,
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"persistence": {
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"decay_seconds": 3.0,
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"max_voxels": 2000000
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}
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},
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"map": {
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"display_voxel": 0.08,
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"save_voxel": 0.05,
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"min_points_to_save": 550,
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"save_extension": ".ply"
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},
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"localization": {
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"enabled": true,
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"period_sec": 2.0,
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"live_period_sec": 0.55,
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"min_new_points": 200,
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"min_points_for_localize": 550,
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"voxel_localize": 0.20,
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"max_corr_mult": 6.0,
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"icp_max_iter": 40,
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"use_point_to_plane": false,
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"allow_point_to_plane_unsafe": false,
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"accept_fitness": 0.30,
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"accept_rmse": 0.30,
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"tracking_window_enabled": true,
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"tracking_window_radius_m": 8.0,
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"tracking_window_min_ref_points": 450,
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"tracking_window_max_ref_points": 140000,
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"global_reloc_anchor_voxel_m": 1.4,
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"global_reloc_max_anchors": 24,
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"global_reloc_yaw_step_deg": 60.0,
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"global_reloc_corr_mult": 1.9,
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"global_reloc_coarse_iter": 8,
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"global_reloc_refine_iter": 20,
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"global_reloc_min_corr": 25,
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"bidirectional_check_enabled": true,
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"bidirectional_min_ratio": 0.22,
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"bidirectional_max_rmse": 0.55,
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"approx_guess_ttl_sec": 60.0,
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"approx_guess_crop_radius_m": 9.0,
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"approx_guess_local_radius_m": 4.5,
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"approx_guess_strict_local": true,
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"approx_guess_global_fallback_after_failures": 10,
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"approx_guess_yaw_step_deg": 30.0,
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"approx_guess_max_start_offset_m": 6.0,
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"approx_guess_bootstrap_min_hits": 2,
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"approx_guess_bootstrap_min_fitness": 0.34,
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"approx_guess_bootstrap_min_bidir": 0.24,
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"live_track_strict": true,
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"live_track_min_fitness": 0.46,
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"live_track_min_bidir": 0.32,
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"live_track_max_step_translation_m": 0.16,
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"live_track_max_step_rotation_deg": 10.0,
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"live_stack_enabled": true,
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"live_stack_frames": 8,
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"live_stack_voxel_m": 0.12,
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"live_stack_max_points": 22000,
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"live_stack_min_frames": 2,
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"approx_guess_default_z_m": 0.0,
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"ref_display_voxel": 0.30
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},
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"localization_visualization": {
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"enabled": true,
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"period_sec": 0.35,
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"voxel_m": 0.24,
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"max_points": 28000,
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"local_radius_m": 12.0,
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"match_dist_m": 0.30,
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"near_dist_m": 0.60,
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"confirm_frames": 3,
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"decay_per_frame": 1
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},
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"place_recognition": {
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"enabled": true,
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"backend": "geometric",
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"models_dir": "model",
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"apply_profiles": ["LOCALIZE_MAP", "LIVE_NAV_MAP"],
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"anchor_voxel_m": 1.6,
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"submap_radius_m": 4.8,
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"min_points_per_anchor": 180,
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"max_anchors": 140,
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"candidate_top_k": 10,
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"descriptor_voxel_m": 0.18,
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"radial_bins": 8,
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"angular_bins": 16,
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"height_bins": 6,
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"guess_bias_radius_m": 9.0,
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"guess_score_weight": 0.18
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},
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"loop_closure": {
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"enabled": false,
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"keyframe_every_n_frames": 30,
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"min_keyframe_translation_m": 0.35,
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"min_keyframe_rotation_deg": 8.0,
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"loop_search_radius_m": 2.5,
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"min_loop_frame_gap": 35,
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"downsample_voxel_m": 0.22,
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"icp_max_corr_m": 1.5,
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"icp_max_iter": 35,
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"accept_fitness": 0.28,
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"accept_rmse": 0.40,
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"optimize_every_n_keyframes": 10,
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"max_keyframes": 500,
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"max_correction_translation_m": 2.0,
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"max_correction_rotation_deg": 20.0
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},
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"mapping_guard": {
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"enabled": true,
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"max_frame_translation_m": 0.18,
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"max_frame_rotation_deg": 12.0,
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"reference_dt_sec": 0.06
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},
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"mapping_lock": {
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"enabled": true,
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"period_sec": 1.0,
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"voxel_m": 0.20,
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"max_corr_m": 0.70,
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"min_stable_points": 450,
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"accept_fitness": 0.30,
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"accept_rmse": 0.28,
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"max_step_translation_m": 0.12,
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"max_step_rotation_deg": 6.0,
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"apply_damping": true,
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"apply_alpha_translation": 0.42,
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"apply_alpha_rotation": 0.50,
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"apply_max_translation_m": 0.08,
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"apply_max_rotation_deg": 5.0,
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"window_radius_m": 8.0,
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"min_live_points": 140,
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"icp_max_iter": 12,
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"block_on_reject": false,
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"retry_after_reject_sec": 0.20,
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"block_on_severe_reject": true,
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"severe_fit": 0.10,
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"severe_rmse": 0.55,
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"severe_trans_m": 0.30,
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"severe_rot_deg": 14.0
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},
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"rotate_guard": {
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"enabled": true,
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"in_place_max_trans_m": 0.12,
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"in_place_min_rot_deg": 4.0,
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"pose_guard_max_rot_deg": 34.0,
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"skip_continuity": true,
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"freeze_mapping_while_rotating": true,
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"freeze_min_stable_points": 220,
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"map_lock_period_sec": 0.25,
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"map_lock_accept_fitness": 0.30,
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"map_lock_accept_rmse": 0.30,
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"map_lock_max_step_rot_deg": 10.0,
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"map_lock_apply_alpha_translation": 0.22,
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"map_lock_apply_alpha_rotation": 0.35,
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"map_lock_apply_max_translation_m": 0.03,
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"map_lock_apply_max_rotation_deg": 3.0,
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"block_on_reject": false,
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"block_on_severe": true
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},
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"continuity_guard": {
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"enabled": true,
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"voxel_m": 0.24,
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"min_points": 120,
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"match_radius_m": 0.45,
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"min_inlier_ratio": 0.25,
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"max_median_m": 0.40,
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"max_p90_m": 0.85,
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"recover_after_rejects": 10
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},
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"map_cleanup": {
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"enabled": true,
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"period_sec": 6.0,
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"voxel_m": 0.16,
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"cluster_radius_m": 0.44,
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"min_cluster_points": 100,
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"keep_largest_n": 2,
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"strict_largest_only": false,
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"min_total_points": 2500
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},
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"autosave": {
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"enabled": false,
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"interval_sec": 90.0,
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"base_name": "autosave_map"
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},
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"map_quality": {
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"enabled": true,
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"near_min_range_m": 0.20,
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"ray_consistency_enabled": true,
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"ray_bin_deg": 1.5,
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"ray_elev_bin_deg": 4.0,
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"ray_max_behind_m": 0.20,
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"ray_keep_n": 1,
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"world_z_clip_enabled": false,
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"world_z_min_m": -2.0,
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"world_z_max_m": 3.0,
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"outlier_filter_enabled": false,
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"outlier_voxel_m": 0.12,
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"outlier_min_points": 2,
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"body_exclusion_enabled": true,
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"body_x_min_m": -0.20,
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"body_x_max_m": 0.35,
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"body_y_min_m": -0.25,
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"body_y_max_m": 0.25,
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"body_z_min_m": -1.30,
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"body_z_max_m": 0.15
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},
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"submap_mapping": {
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"enabled": true,
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"local_window_frames": 18,
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"local_voxel_m": 0.08,
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"global_voxel_m": 0.14,
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"merge_period_sec": 0.8,
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"merge_min_translation_m": 0.25,
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"merge_min_rotation_deg": 6.0,
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"max_global_points": 350000,
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"display_max_points": 250000,
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"apply_profiles": ["LOCALIZE_MAP", "LIVE_NAV_MAP"],
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"checkpoint_enabled": true,
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"checkpoint_interval_sec": 60.0
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},
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"state_machine": {
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"enabled": true,
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"window_size": 12,
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"degraded_fitness": 0.20,
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"lost_fitness": 0.10,
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"degraded_rmse": 0.45,
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"lost_rmse": 0.80,
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"max_bad_before_lost": 4,
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"min_good_to_recover": 3,
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"recovery_cooldown_sec": 2.0
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},
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"session_memory": {
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"enabled": true,
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"filename": "SLAM_session_memory.json",
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"max_entries": 200
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},
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"navigation_export": {
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"enabled": true,
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"min_points": 550,
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"resolution_m": 0.05,
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"z_min_m": 0.05,
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"z_max_m": 1.40,
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"inflation_radius_m": 0.20,
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"padding_m": 0.40
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},
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"navigation_runtime": {
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"enabled": true,
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"resolution_m": 0.10,
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"z_min_m": 0.05,
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"z_max_m": 1.40,
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"padding_m": 0.80,
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"inflation_radius_m": 0.25,
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"dynamic_decay_sec": 1.5,
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"dynamic_min_hits": 2,
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"blocked_cost": 220,
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"plan_period_sec": 0.35
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},
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"local_planner": {
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"lookahead_m": 0.8,
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"max_linear_mps": 0.6,
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"max_angular_rps": 1.3,
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"goal_tolerance_m": 0.30,
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"collision_probe_m": 0.6
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},
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"mission": {
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"waypoint_tolerance_m": 0.55
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},
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"safety": {
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"enabled": true,
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"stop_radius_m": 0.50,
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"stale_localization_sec": 1.5,
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"emergency_hold_sec": 0.8
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},
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"replay": {
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"max_record_frames": 6000
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},
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"fusion": {
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"enabled": true,
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"max_age_sec": 0.15,
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"max_timestamp_skew_sec": 0.30,
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"lidar_weight": 1.0,
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"imu_weight": 0.25,
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"wheel_weight": 0.0,
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"vision_weight": 0.0,
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"use_translation": false,
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"use_rotation": true,
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"imu_complementary_alpha": 0.97
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},
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"runtime": {
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"publish_hz": 12.0,
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"queue": {
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"frame_keep_latest": true,
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"frame_queue_maxsize": 1,
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"status_queue_maxsize": 50,
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"cmd_queue_maxsize": 50
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}
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},
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"gui": {
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"render": {
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"max_draw_points": 250000,
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"decimate_step": 3
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},
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"view": {
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"distance": 40,
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"grid_size": 80
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},
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"colors": {
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"accent": "#00ff88"
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}
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}
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}
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