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