Detour-API

Detour

里程计暂停运行

Path：{ip}:4321/pause

Method： GET

接口描述：

请求（案例）：http://127.0.0.1:4321/pause

返回（案例）：{"success":true,"id":0}

里程计恢复运行

Path：{ip}:4321/resume

Method： GET

接口描述：

请求（案例）：http://127.0.0.1:4321/resume

返回（案例）：{"success":true,"id":0}

获取当前车体在世界坐标系下的位姿

Path：{ip}:4321/getPos

Method： GET

接口描述：

请求：http://127.0.0.1:4321/getPos

返回（案例）：byte[] 下载成文件保存到本地

切换是否进行地图匹配

Path：{ip}:4321/switchPosMatch

Method： GET

接口描述：

参数：

disabled：bool，是否关闭地图匹配

name：string，指定地图名称。不指定该参数则对所有图层生

请求（案例）：http://127.0.0.1:4321/switchPosMatch

返回（案例）：{"performed":true}

使远端算法核将某指定图层当前的建图结果保存至文件

Path：{ip}:4321//setLocation

Method： GET

接口描述：

参数：

x：float，x 坐标值

y：float，y 坐标值

th：float：角度值

请求：http://127.0.0.1:4321/setLocation?x=1&y=2&th=3

返回（案例）：{"x":1.0,"y":2.0,"th":3.0,"l_step":9999,"tick":63832366282729,"error":"Timeout"}

获取程序运行状态，包括里程计状态、地图状态等

Path：{ip}:4321/getStat

Method： GET

接口描述：

请求：http://127.0.0.1:4321/getStat

返回（案例）：{"layoutStat":{"w1":{},"w2":{},"frontlidar":{}},"odoStat":{},"posStat":{},"TCStat":{"fitmethod":0,"fitsource":"/","poseEstim":"/","TCVar":0.0},"GOStat":{"maxTension":0.0,"edgeN":0},"licence":"DID:40B38B8C111BD4EC","globalStat":{"paused":false,"IsSettingPosition":false}}

设置激光雷达的无效范围，在一系列点构成的闭包范围内的激光点将被忽略，这些点的坐标为车体坐标系下的值

Path：{ip}:4321/setLidar2DOdometryMask

Method： GET

接口描述：

参数：

odometry：string，所设置的里程计名称字符串：一串 XY 坐标点构成的 json 字符串

请求（案例）：

http://127.0.0.1:4321/setLidar2DOdometryMask?odometry=odometry_1&[{"X":123,"Y":456},{"X":123,"Y":456},{"X":123,"Y":456}]

返回（案例）：

设置成功：{success: true}

设置失败：{error=”No odometry named {指定里程计名称}”}

将程序设置为debug模式运行，将输出debug日志文件

Path：{ip}:4321/debug

Method： GET

接口描述：

请求：http://127.0.0.1:4321/debug

返回（案例）：{"success":true"}

获取程序的配置参数

Path：{ip}:4321/getConf

Method： GET

接口描述：

请求：http://127.0.0.1:4321/getConf

返回（案例）：{"license":"","initX":0.0,"initY":0.0,"initTh":0.0,"recordLastPos":false,"layout":{"chassis":{"width":1200.0,"length":2000.0,"contour":[-445.0,330.0,445.0,330.0,445.0,-330.0,-445.0,-330.0]},"components":[{"type":"wheel,component,haveposition","options":{"platform":0,"scale":1.0,"radius":200.0,"id":1,"name":"w1","noMove":false,"time_bias_ms":0,"x":0.0,"y":300.0,"th":0.0,"z":0.0,"alt":0.0,"roll":0.0}},{"type":"wheel,component,haveposition","options":{"platform":6,"scale":1.0,"radius":200.0,"id":2,"name":"w2","noMove":false,"time_bias_ms":0,"x":0.0,"y":-300.0,"th":0.0,"z":0.0,"alt":0.0,"roll":0.0}},{"type":"lidar2d,component,haveposition","options":{"derr":20.0,"kerr":0.0,"isCircle":false,"angleSgn":1.0,"endAngle":0.0,"rangeStartAngle":-180.0,"rangeEndAngle":180.0,"afterImageFilterOutN":7,"afterImageFilterOutDeg":2.0,"ignoreDist":100.0,"maxDist":200000.0,"correctionType":"angle","dazzleWindow":5,"dazzleDist":80,"useNormalization":true,"useGridSelection":true,"gridSelSz":20.0,"useChassisFilter":true,"maxpoint":640,"useBilateralFilter":true,"useReflex":false,"removeReflex":false,"removeReflexDist":300.0,"minpointsN":20.0,"reflexThres":0.4,"reflexDiffThres":0.3,"reflexChunkThres":2.5,"reflexMutePadding":7,"reflexSize":100,"reflexDistRange":150.0,"invalidAngArrLen":128,"stepDebug":false,"id":1101520006,"name":"frontlidar","noMove":false,"time_bias_ms":0,"x":350.0,"y":0.0,"th":0.0,"z":0.0,"alt":0.0,"roll":0.0}}]},"odometries":[],"positioning":[],"autoStart":false,"debug":true,"useGPU":true,"TCtimeWndSz":150,"TCtimeWndLimit":700,"useTC":false,"guru":{"SpatialIndex2StageCache":4194304,"SpatialIndex1StageCache":1048576,"ICPFastIterFac":0.8,"ICPUseFastMode":false,"ICP2DMaxIter":16,"RippleEnableEqualize":true,"Lidar2dMapMaxIter":50,"TCAddIterations":50,"phaseLockLvl":3,"rotMapProjectionLength":500.0,"gicp_p2pfac":0.02,"extractPlaneThresE":700.0,"lo3dlineWeightScale":0.3,"inputScale":1.0,"Lidar2DRippleDistDecay":15000.0,"Lidar2DRippleScale":1.0,"SI2DRectSmall":130,"SI2DRectBig":600,"TCVarMax":1600.0,"TCMaxBadEdges":3,"TCKalmanUseCurrentFac":0.2,"debugReg2D":true,"ICP2ddebugSource":-1,"ICP2dReflexWeight":3.0,"ICP2dReflexWeightTranslateFac":3.0,"TCInterconnectType":0,"TCAutoCaliberation":false,"dumpCriticalData":true},"recordPosInterval":500,"preventErrorLocation":true,"minimized":false}

进行一次全局匹配

Path：{ip}:4321/relocalize

Method： GET

接口描述：

请求：http://127.0.0.1:4321/relocalize

返回（案例）：{performed: true}

使远端算法核加载远端已保存的某个地图

Path：{ip}:4321/loadMap

Method： GET

接口描述：

参数：

name：string，指定的图层名称，默认为 mainmap

fn：string，指定加载的地图文件名称，默认为 mainmap.2dlm

请求：http://127.0.0.1:4321/loadMap?name=mainmap&fn= mainmap.2dlm

返回（案例）：{performed: true}

使远端算法核将某指定图层当前的建图结果保存至文件

Path：{ip}:4321/saveMap

Method： GET

接口描述：

参数：

name：string，指定的图层名称，默认为 mainmap

fn：string，指定加载的地图文件名称，默认为 mainmap.2dlm

请求：http://127.0.0.1:4321/saveMap?name=mainmap&fn= mainmap.2dlm

返回（案例）：{performed: true}