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
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：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}