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// 全局配置文件（根级 map 结构）
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// 注：注释须整行且以 // 开头；键值保持全局可读（不同雷达里同名 key 不要重复语义）
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// 结构：
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// "server" / "log" → 进程级全局配置
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// 其它一级键 → 一个"雷达标识"（通信时用 "radar":"xxx" 指定操作哪台雷达），
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// 每个标识下是一份完整参数：radar / scan / detect / count / filter
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{
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// ==================== server: 运行模式（全局） ====================
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"server": {
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//运行模式 exe=直接检测 / tcp=服务端模式 / http=HTTP服务端
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"mode": "http",
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//TCP/HTTP服务端监听端口
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"port": 9601
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},
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// ==================== log: 日志（全局） ====================
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"log": {
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//日志打印使能 true/false
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"enable": true,
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//日志(任务目录)保留天数, 超出自动删除更早的目录
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"retain_days": 1,
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//每日日志定时清理时刻, 格式 "HH:MM:SS"
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"clean_time": "06:01:30"
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},
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// ==================== radar1: 第1台雷达（完整参数） ====================
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"radar1": {
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// ---- radar: 雷达连接与雷达内置滤波 ----
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"10.43.26.114": {
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//雷达IP
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"ip": "10.43.26.114",
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//雷达数据端口
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"port": 2368,
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//雷达帧率 Hz (矩形长 = 速度/帧率)
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"hz": 50,
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//拖尾滤波 0=关, 1=弱, 2=中, 3=强
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"tail_filter": 3,
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//前冲滤波 0=关, 1=弱, 2=中, 3=强
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"front_filter": 3,
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//远端高反滤波 0=关, 1=弱, 2=强
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"far_hr_filter": 2,
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//近端高反识别 true开，false关
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"near_hr_filter": true
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},
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// ---- scan: 扫描采集与走行 ----
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"scan": {
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//z轴速度模式: uniformSpeed=匀速(用下方z_speed), configuration=变速(用config/speed.txt)
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"z_speed_type": "uniformSpeed",
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//z轴速度 厘米/秒 (0=z轴为时间ms, >0=z轴为移动距离mm)
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"z_speed": 20,
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//exe模式/默认扫描时长 秒 (tcp/http 模式可被请求中的 scanTime 覆盖)
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"collect_duration_s": 6
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},
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// ---- detect: 截面分析 ----
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"detect": {
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//Z截面区间长度 毫米
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"z_range_mm": 50,
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//Y截面区间长度 毫米
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"y_range_mm": 80,
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//截面矩形宽度 像素
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"rect_width_px": 12,
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//截面矩形长度倍率 (矩形长=速度/帧率×倍率)
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"rect_length_ratio": 1.5
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},
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// ---- count: 分层计数 ----
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"count": {
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//地板高度 毫米 (物品高度 = floor_height - Y轴, count计数用)
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"floor_height": 1600,
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//count分层冗余 初始冗余 毫米 (第1层容差)上下各base_tolerance
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"base_tolerance": 40,
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//count分层冗余 每层增加 毫米
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"per_level_tolerance": 1,
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//count画layer图: 每个点膨胀像素 (point_dilate×point_dilate)
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"point_dilate": 8,
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//count z轴空隙插值模式: none / CopyTranslation / AngleBucketInterpolation
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"z_interpolate_mode": "CopyTranslation",
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//count层数算法:
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// LevelTolerance = level=round(高度/层高), 判定 |高度-level×层高| <= 容差
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// HalfMax = 两步判定: ①本层中间~下一层中间[(level-0.5)层高,(level+0.5)层高]粗筛 ②取①内最高点top, 有效区间=[top-容差, top]
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// KdePeak = 两步判定: ①同上粗筛 ②对①内高度做KDE密度曲线取峰值peak, 有效区间=[peak-容差, peak+容差]
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// 容差 = base_tolerance + 层号×per_level_tolerance
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"layer_algorithm": "HalfMax",
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//KDE(KdePeak算法): 高斯核带宽 毫米 (0=按Silverman经验法则自动取)
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"kde_bandwidth": 0,
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//KDE(KdePeak算法): 密度曲线扫描步长 毫米 (越小越精细但越慢)
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"kde_step": 1
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},
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// ---- filter: 软件滤波(多边形 + 拖影) ----
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"filter": {
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//过滤多边形(mm), 至少3个顶点
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"polygon": [[-550,0],[-550,1600],[500,1600],[500,0]],
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//连续段尾部减除(图片级旧方案, 已由点云级 sparse_cut 取代, 建议保持 false)
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"tail_cut": {
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"enable": false,
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"max_tail_length": 30,
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"y_delta": 30,
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"min_run_length": 5,
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"core_min_len": 5,
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"support_rows": 0
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},
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//点云级稀疏拖影过滤(推荐, 默认开)
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"sparse_cut": {
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"enable": true,
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//同圈X邻域半径mm: 调大→删得狠; 调小→保守
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"x_radius": 30,
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//同圈连续: 同一圈内稀疏点数≥此值即删
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"circle_min": 2,
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//跨圈连续: 同一X位置在z方向连续出现≥此圈即删
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"run_min": 2
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}
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}
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}
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// ==================== 追加更多雷达：复制下面一段并改标识/IP/参数即可 ====================
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// 通信时用 "radar":"radar2" 指定；不带 radar 字段的请求默认操作第一个雷达(radar1)
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"10.43.26.113": {
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"radar": { "ip": "10.43.26.113", "port": 2368, "hz": 50,
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"tail_filter": 3, "front_filter": 3, "far_hr_filter": 2, "near_hr_filter": true },
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"scan": { "z_speed_type": "uniformSpeed", "z_speed": 20, "collect_duration_s": 6 },
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"detect":{ "z_range_mm": 50, "y_range_mm": 80, "rect_width_px": 12, "rect_length_ratio": 1.5 },
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"count": { "floor_height": 1600, "base_tolerance": 30, "per_level_tolerance": 1,
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"point_dilate": 8, "z_interpolate_mode": "CopyTranslation",
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"layer_algorithm": "HalfMax", "kde_bandwidth": 0, "kde_step": 1 },
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"filter":{ "polygon": [[-550,0],[-550,1600],[500,1600],[500,0]],
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"tail_cut": { "enable": false, "max_tail_length": 30, "y_delta": 30,
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"min_run_length": 5, "core_min_len": 5, "support_rows": 0 },
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"sparse_cut": { "enable": true, "x_radius": 30, "circle_min": 2, "run_min": 2 } }
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},
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"10.43.26.110": {
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"radar": { "ip": "10.43.26.110", "port": 2368, "hz": 50,
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"tail_filter": 3, "front_filter": 3, "far_hr_filter": 2, "near_hr_filter": true },
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"scan": { "z_speed_type": "uniformSpeed", "z_speed": 20, "collect_duration_s": 6 },
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"detect":{ "z_range_mm": 50, "y_range_mm": 80, "rect_width_px": 12, "rect_length_ratio": 1.5 },
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"count": { "floor_height": 1600, "base_tolerance": 30, "per_level_tolerance": 1,
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"point_dilate": 8, "z_interpolate_mode": "CopyTranslation",
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"layer_algorithm": "HalfMax", "kde_bandwidth": 0, "kde_step": 1 },
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"filter":{ "polygon": [[-550,0],[-550,1600],[500,1600],[500,0]],
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"tail_cut": { "enable": false, "max_tail_length": 30, "y_delta": 30,
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"min_run_length": 5, "core_min_len": 5, "support_rows": 0 },
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"sparse_cut": { "enable": true, "x_radius": 30, "circle_min": 2, "run_min": 2 } }
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},
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"10.43.26.111": {
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"radar": { "ip": "10.43.26.111", "port": 2368, "hz": 50,
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"tail_filter": 3, "front_filter": 3, "far_hr_filter": 2, "near_hr_filter": true },
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"scan": { "z_speed_type": "uniformSpeed", "z_speed": 20, "collect_duration_s": 6 },
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"detect":{ "z_range_mm": 50, "y_range_mm": 80, "rect_width_px": 12, "rect_length_ratio": 1.5 },
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"count": { "floor_height": 1600, "base_tolerance": 30, "per_level_tolerance": 1,
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"point_dilate": 8, "z_interpolate_mode": "CopyTranslation",
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"layer_algorithm": "HalfMax", "kde_bandwidth": 0, "kde_step": 1 },
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"filter":{ "polygon": [[-550,0],[-550,1600],[500,1600],[500,0]],
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"tail_cut": { "enable": false, "max_tail_length": 30, "y_delta": 30,
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"min_run_length": 5, "core_min_len": 5, "support_rows": 0 },
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"sparse_cut": { "enable": true, "x_radius": 30, "circle_min": 2, "run_min": 2 } }
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},
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"10.43.26.108": {
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"radar": { "ip": "10.43.26.108", "port": 2368, "hz": 50,
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"tail_filter": 3, "front_filter": 3, "far_hr_filter": 2, "near_hr_filter": true },
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"scan": { "z_speed_type": "uniformSpeed", "z_speed": 20, "collect_duration_s": 6 },
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"detect":{ "z_range_mm": 50, "y_range_mm": 80, "rect_width_px": 12, "rect_length_ratio": 1.5 },
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"count": { "floor_height": 1600, "base_tolerance": 30, "per_level_tolerance": 1,
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"point_dilate": 8, "z_interpolate_mode": "CopyTranslation",
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"layer_algorithm": "HalfMax", "kde_bandwidth": 0, "kde_step": 1 },
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"filter":{ "polygon": [[-550,0],[-550,1600],[500,1600],[500,0]],
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"tail_cut": { "enable": false, "max_tail_length": 30, "y_delta": 30,
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"min_run_length": 5, "core_min_len": 5, "support_rows": 0 },
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"sparse_cut": { "enable": true, "x_radius": 30, "circle_min": 2, "run_min": 2 } }
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},
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"10.43.26.107": {
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"radar": { "ip": "10.43.26.107", "port": 2368, "hz": 50,
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"tail_filter": 3, "front_filter": 3, "far_hr_filter": 2, "near_hr_filter": true },
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"scan": { "z_speed_type": "uniformSpeed", "z_speed": 20, "collect_duration_s": 6 },
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"detect":{ "z_range_mm": 50, "y_range_mm": 80, "rect_width_px": 12, "rect_length_ratio": 1.5 },
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"count": { "floor_height": 1600, "base_tolerance": 30, "per_level_tolerance": 1,
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"point_dilate": 8, "z_interpolate_mode": "CopyTranslation",
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"layer_algorithm": "HalfMax", "kde_bandwidth": 0, "kde_step": 1 },
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"filter":{ "polygon": [[-550,0],[-550,1600],[500,1600],[500,0]],
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"tail_cut": { "enable": false, "max_tail_length": 30, "y_delta": 30,
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"min_run_length": 5, "core_min_len": 5, "support_rows": 0 },
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"sparse_cut": { "enable": true, "x_radius": 30, "circle_min": 2, "run_min": 2 } }
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}
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}
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