Compared files  

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/fw/dreame.vacuum.p2041/4.1.2_1041/xout/_root/ava/conf/accum_config.json
Last modified2020-09-29 16:40:41
Size3.1 Kb (129 Lines)
EncodingUnicode 8 bits (UTF-8) - without signature autodetected
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/fw/dreame.vacuum.p2041/4.1.2_1051/xout/_root/ava/conf/accum_config.json
Last modified2020-11-04 14:11:41
Size2.7 Kb (114 Lines)
EncodingUnicode 8 bits (UTF-8) - without signature autodetected


   Comparison Statistics  

Detailed Statistics

All Changes
 BlocksLines
Unchanged1798
Inserted48
Deleted618
Ignored00
Changed621




   Comparison Details  

1 1 { //******2041_3
2     "radial_angle": 15,  
3 2     "sofa_height": 880,
4 3     "robot_height": 780,
5 4     "default_ground_h": 0,
6 5     "ground_LH_offset": [
7         -80, 6         -100,
8 7         80
9 8     ],
10 9     "fallingstep_height": -400,
11 10     "carpet_h": 60,
12     "open_image_save": 0,  
13 11     //****同步补偿
14 12     "use_trick": false,
15 13     "rotate_speed_th": 200,
  14     "roll_pitch_stable_thresh": 800,
16 15     "time_shift": -60.0,
17 16     "sunny_time_shift": 120,
18 17     //****栅格图
26 skipped lines
45 44     "do_filter": true,
46 45     "do_extract_large": true,
47 46     "do_extract_small": true,
48     "large_or_small_h": 380.0, 47     "large_or_small_h": 370.0,
49 48     "infrared_low": 350.0,
50 49     "infrared_up": 500.0,
51 50     // seg_large_x 必须大于 seg_small_x
3 skipped lines
55 54     "base_confidence": 0.7,
56 55     "large_obs_confidence": 0.8,
57 56     "plane_confidence": 0.8,
58     "small_obs_confidence": 0.94, 57     "small_obs_confidence": 0.95,
59 58     "sunny_confidence": 0.04,
60 59     //****调试用的
61 60     //** 外参
10 skipped lines
72 71         520.0
73 72     ],
74 73     //****extract large obstacle
75     //最低降采样参数  
76     "voxel_large_leaf_size": 40.0, 74     "cluster_largeobs_radius": 2.5,
77     "voxel_small_leaf_size": 20.0,  
78     "large_min_pt_num": 2000,  
79     //半径滤波参数  
80     "filter_large_radius": 150.0,  
81     "filter_large_radius_num": 7, 75     "cluster_large_min_point_num": 30,
82 76     //****extract small obstacle
83 77     //局部统计栅格
84 78     "statis_cell_resolution": 100,
85 79     "z_delta_incell": 60.0,
86 80     "maxz_delta_neighbor": 60.0,
87     "obs_thickness": 20.0,  
88     "z_gap_pt_layer": 20.0,  
89     //下台阶盲区距离  
90     "dead_zone_cell_num": 10,  
91     //半径滤波  
92     "filter_small_radius": 50.0,  
93     "filter_small_radius_num": 2,  
94 81     //聚类参数
  82     "cluster_smallobs_radius": 2.5,
95 83     "cluster_cell_radius": 4.5,
96     "cluster_min_point_num": 30, 84     "cluster_small_min_point_num": 30,
97 85     "cluster_min_cell_num": 6,
98 86     "cluster_max_cell_num": 600,
99 87     //小障碍物区域统计
100     "aspect_ratio": 2.0,  
101     "kb": [  
102         0.6,  
103         0.0  
104     ],  
105     "b_offset": 100.0,  
106 88     "fitline_mse": 0.2,
107     //多路径识别  
108     "multi_path_dlt_conf": 0.01,  
109 89     //small obstacle size，smaller than [xRange,yRange,zRange]
  90     "large_obstacle_size": [
  91         300.0,
  92         300.0,
  93         300.0
  94     ],
110 95     "small_obstacle_size": [
111 96         400.0,
112 97         400.0,
1 skipped line
114 99     ],
115 100     // 上台阶
116 101     //bigger than [xRange,yRange],smaller than zRange]
117     "dubious_step_min_length": 3500.0, 102     "dubious_step_min_length": 2500.0,
118     "dubious_step_line_mse": 0.2, 103     "dubious_step_line_mse": 0.5,
119 104     "carpet_grid_num": 30,
120 105     "carpet_grid_long_size": 12,
121 106     "carpet_grid_short_size": 8,
122     "carpet_filling_rate": 0.4,  
123 107     "carpet_cluster_radius": 1.5,
  108     "risingstep_check_radius": 10.0,
124 109     "rising_step_size": [
125 110         400.0,
126 111         1000.0,
3 skipped lines

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Match line endings: no.
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In middle of lines: yes,
At end of lines: yes.
Blank lines as empty lines: no.
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At character level: no.


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