117 lines
3.8 KiB
YAML
117 lines
3.8 KiB
YAML
=======
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# 串口配置 - Ubuntu环境
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port: "/dev/ttyUSB0" # Ubuntu环境使用ttyUSB端口
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baud: 2000000 # SDK默认波特率
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=======
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# CLion远程开发配置
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remote_development:
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enable_auto_detection: true # 自动检测远程环境
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optimize_for_network: true # 网络传输优化
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reduce_render_quality: true # 降低渲染质量提高传输效率
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simplified_grid: true # 使用简化网格
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error_recovery: true # 启用错误恢复
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max_render_errors: 10 # 最大渲染错误次数
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x11_forwarding_check: true # 检查X11转发状态
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# 显示配置
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point_size: 4.0 # 增大点的大小便于观察
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point_color: "red"
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line_width: 3.0
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show_grid: true
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grid_size: 1.0
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background_color: [0.0, 0.0, 0.0] # 黑色背景突出红色点云
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# 渲染性能配置
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rendering:
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local_mode:
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fps_target: 60 # 本地模式目标FPS
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point_size_multiplier: 1.0 # 点大小倍数
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enable_intensity_colors: true # 启用强度颜色
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grid_density: "full" # 完整网格密度
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remote_mode:
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fps_target: 20 # 远程模式目标FPS
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point_size_multiplier: 0.8 # 点大小倍数
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enable_intensity_colors: false # 禁用强度颜色减少传输
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grid_density: "simplified" # 简化网格密度
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# Ubuntu环境优化
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display: true
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max_points_per_frame: 50000 # 增加最大点数
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update_rate: 30 # 30Hz更新率
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# 调试模式
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debug_mode: true # 启用调试信息
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# 坡面检测配置 - 新策略：100米参数预警
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slope_detection:
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enable: true
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crack_threshold: 100.0 # 100米深度阈值
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min_crack_length: 100.0 # 100米长度阈值
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height_diff_threshold: 0.08 # 保持8cm高度差检测敏感度
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scan_width: 2.0 # 保持不变
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# 遮挡检测配置 - 新策略：20厘米预警
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occlusion_detection:
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enable: true
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alert_distance: 0.20 # 20厘米预警距离（0.20m = 20cm）
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occlusion_threshold: 0.20 # 20厘米遮挡检测阈值
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min_occlusion_points: 1 # 降低到1个点即可检测
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critical_distance: 0.20 # 20厘米严重遮挡距离
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# 预警系统配置
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alert:
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enable_sound: true # 启用声音预警
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enable_visual: true # 启用视觉预警
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enable_voice: true # 启用语音播报
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critical_flash_rate: 5 # 严重预警闪烁频率(Hz)
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warning_flash_rate: 2 # 一般预警闪烁频率(Hz)
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# 语音播报配置
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voice_alert:
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language: "zh-CN" # 中文语音
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speed: 1.0 # 播报速度
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volume: 0.8 # 音量
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engine: "espeak" # 语音引擎 (espeak/festival/pico2wave)
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repeat_interval: 3 # 重复播报间隔(秒)
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# 图形界面配置
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gui:
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enable: true
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auto_detect_environment: true # 自动检测图形环境
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fallback_to_console: true # 图形界面失败时回退到控制台
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window_size: [1024, 768] # 窗口大小
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fullscreen: false # 是否全屏
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# 可视化效果
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visualization:
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point_size: 2.0
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background_color: [0.1, 0.1, 0.2] # 深蓝色背景
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coordinate_system: true
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grid_display: true
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# 颜色方案
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colors:
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normal_points: [0.8, 0.8, 0.8] # 正常点云：浅灰色
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crack_points: [1.0, 0.0, 0.0] # 裂缝点：红色
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occlusion_points: [1.0, 0.5, 0.0] # 遮挡点：橙色
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# 预警效果
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alert_effects:
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warning_flash_rate: 2 # 警告闪烁频率
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critical_flash_rate: 4 # 严重警告闪烁频率
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flash_colors:
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warning: [1.0, 1.0, 0.0] # 黄色
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critical: [1.0, 0.0, 0.0] # 红色
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# 性能配置
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performance:
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target_fps: 30
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max_points_display: 100000
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point_cloud_downsampling: 0.01 # 体素滤波大小
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# 远程显示优化
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remote_display:
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enable_compression: true
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reduce_quality: true
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simplified_rendering: true |