Artheru：Initial bilingual draft (auto-published)

2026-05-16T11:42:51Z

Initial bilingual draft (auto-published)

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== 概述 / Overview ==
Detour 是 MDCS 的定位系统：它整合 ''激光 SLAM''、''地纹 SLAM''、''天花板 SLAM''、''二维码导航'' 等多种定位手段，输出统一的 6-DoF 位姿给上层（Clumsy 自动驾驶 / SimpleComposer 调度）。Detour 不接受外部插件 —— 它通过 [[Special:MyLanguage/DObject|DObject]] 共享内存订阅 Medulla 发布的传感器数据，并通过 ''外部反馈接口''接收里程计 / IMU / RTK / UWB。

Detour is the MDCS positioning subsystem. It fuses laser SLAM, ground-texture SLAM, ceiling SLAM, QR navigation, and other localisation sources into a unified 6-DoF pose for the upper layers (Clumsy autopilot / SimpleComposer fleet). Detour does not accept plugins — it consumes Medulla sensor publications via DObject, and external poses (odometry / IMU / RTK / UWB) via the external-feed API.

== 子模块 / Subsystems ==
{| class="wikitable"
! 模块 / Module !! 文件 / File !! 用途 / Use
|-
| Lidar consumer || `D:\src\Detour\DetourCore\CartDefinition\Lidar.cs:302-311` || 从 Medulla DObject 订阅雷达帧
|-
| Tight coupler || `D:\src\Detour\DetourCore\Algorithms\TightCoupler.ExternalCoupler.cs` || 接收外部位姿、做紧耦合融合
|-
| Laser SLAM || `D:\src\Detour\DetourCore\Algorithms\LaserSLAM*` || 见 [[Special:MyLanguage/Detour激光SLAM算法详解|Detour 激光 SLAM 算法详解]]
|-
| Ground-texture SLAM || `D:\src\Detour\DetourCore\Algorithms\GroundTexture*` || 见 [[Special:MyLanguage/Detour地面纹理SLAM算法详解|地面纹理 SLAM 算法详解]]
|-
| QR / fiducial || `D:\src\Detour\DetourCore\Algorithms\QR*` || 见 [[Special:MyLanguage/二维码识别导航|二维码识别导航]]
|-
| Multi-source fuser || `TightCoupler` || 见 [[Special:MyLanguage/多定位源的自动综合|多定位源的自动综合]]
|}

== 数据流 / Data flow ==

Medulla 传感器插件
│ output() → DObject(name)
▼
Detour 订阅:
- LidarConsumer.ReadLidar()
- CameraConsumer (ground-texture / ceiling / QR)
│
▼
各 SLAM 后端 (laser / texture / ceiling / QR)
│ 每个产生一组 ''观测约束''
▼
TightCoupler (位姿图优化)
│ + 外部反馈 (PostExternalFeed)
▼
统一位姿 (x, y, z, th, pitch, roll, tick)
│ 发布到 DObject "pose"
▼
Clumsy / SimpleComposer 订阅

== 外部反馈 / External feeds ==
非传感器位姿（轮编里程计 / IMU / RTK / UWB / 二次定位源）通过 ''外部反馈''进入 Detour：

Non-sensor poses (wheel odometry, IMU, RTK, UWB, secondary sources) enter Detour through the ''external-feed'' API:

<syntaxhighlight lang="csharp">
TightCoupler.PostExternalFeed(new ExternalFeed
{
name = "wheel_imu",
counter = tick++,
hasTranslation = true,
hasRotation = true,
is2D = true,
integrated = true, // 积分量 / cumulative
x = odom_x, y = odom_y, th = odom_th
}, "WheelOdom");
</syntaxhighlight>

字段含义见 `TightCoupler.ExternalCoupler.cs`：`hasTranslation/hasRotation`（包含的自由度）、`integrated`（积分量 vs 单帧量）、`toRemap`（绝对参考系下，需要全局重映射）、`startingTick`（首帧基准）。

Field semantics in `TightCoupler.ExternalCoupler.cs`: `hasTranslation/hasRotation` (DOFs), `integrated` (cumulative vs single-frame), `toRemap` (absolute, needs global remap), `startingTick` (reference baseline).

== 多 SLAM 共存策略 / Multi-SLAM coexistence ==
* '''并行运行''': 默认每种 SLAM 后端都开，各产生自己的观测约束。
* '''置信加权''': TightCoupler 根据每个后端的协方差矩阵做加权融合。
* '''场景切换''': 某个后端连续 ''N 帧''置信度 < 阈值 → 临时禁用其约束。
* '''硬切换''': 用户可在 UI 中强制选择"单一定位源"模式（调试用）。

* All SLAM backends run in parallel by default.
* TightCoupler weights by per-backend covariance.
* A backend that's degraded for N frames is temporarily disabled.
* A user can force single-source mode (debug).

== 定位输出 / Positioning output ==
Detour 把当前最优位姿写到 ''pose'' 命名的 DObject：

The current best pose is published to a DObject named `pose`:

<syntaxhighlight lang="csharp">
public struct DetourPose
{
public double x, y, z; // mm
public double th; // 偏航 / yaw rad
public double pitch, roll; // rad
public long tick; // 时间戳 / system tick
public double cov_xy; // 平面协方差 / planar covariance
public double cov_th; // 偏航协方差 / yaw covariance
public string activeBackend; // 当前主用 SLAM 后端
}
</syntaxhighlight>

== 与 Medulla 的关系 / Relation to Medulla ==
Detour ''不是'' Medulla 的插件；它是独立的 .NET 进程，与 Medulla 同主机但不同进程，二者只通过 DObject 共享内存通讯。这种设计使得 Detour 可以独立部署 / 升级 / 切换 SLAM 算法而不影响 Medulla。

Detour is '''not''' a Medulla plugin. It's a separate .NET process on the same host, communicating with Medulla only via DObject shared memory. This decoupling lets Detour deploy / upgrade / swap SLAM algorithms independently.

== DetourStandalone 与 DetourLite / Standalone & Lite variants ==
* '''DetourStandalone''': 完整 Detour，含全部 SLAM + UI。详见 [[Special:MyLanguage/DetourStandalonePluginGuide|DetourStandalonePluginGuide]]。
* '''DetourLite''': 精简版，只含必要功能 + 检查表自检。见 [[Special:MyLanguage/DetourLite检查表|DetourLite 检查表]]。

== 相关页面 / See also ==
* [[Special:MyLanguage/Detour|Detour]]
* [[Special:MyLanguage/Detour简介|Detour简介]]
* [[Special:MyLanguage/Detour-API|Detour-API]]
* [[Special:MyLanguage/Detour激光SLAM算法详解|Detour激光SLAM算法详解]]
* [[Special:MyLanguage/Detour地面纹理SLAM算法详解|Detour地面纹理SLAM算法详解]]
* [[Special:MyLanguage/多定位源的自动综合|多定位源的自动综合]]

[[Category:开发手册]]

Detour软件架构 - 版本历史

Artheru：​Initial bilingual draft (auto-published)

Artheru：Initial bilingual draft (auto-published)