Fusion configuration
The FusionConfig struct controls sensor inputs, power budget, occupancy resolution, and degraded-mode behavior. Configuration is fixed at runtime init — apply changes by stopping and restarting the runtime.
LiDARModel enum
| Value | Channels | Use case |
|---|---|---|
SHORT_8 | 8 | Compact delivery robot, low sensor budget |
MID_16 | 16 | Warehouse AMR, default profile |
LONG_64 | 64 | Truck/yard at-speed, long-range detection |
DriftModel enum
| Value | Process noise | Intended chassis type |
|---|---|---|
WAREHOUSE_INDOOR | Low | AMR, smooth floor, low vibration |
OUTDOOR_LIGHT | Medium | Sidewalk delivery, light vibration |
HEAVY_VEHICLE_OUTDOOR | High | Truck/yard, diesel vibration, rough surfaces |
Prediction configuration
Prediction parameters are embedded in FusionConfig. The key tuning decision is the pred_horizons vector — each additional horizon adds approximately 2ms per tracked agent at balanced power profile.
Tip: For pedestrian-heavy environments (warehouse, campus delivery), include the 2.0s horizon — the social force model gains significant accuracy in the 1.5–2.0s range as pedestrian turn decisions become observable. For forklift-primary environments, 0.5s + 1.0s is sufficient (CVTR model peaks at 1.0s).
Localization configuration
Localization requires a pre-built .pvmap keyframe file. Pass the path to the PathVyntRuntime constructor or use patch_map() for incremental updates.
bash
Build a map from a survey drive bag
# Record a slow, full-coverage survey drive
# Replay at 1x speed through the map builder
$ pvctl build-map \
--bag survey_drive_2026_05_12.mcap \
--output warehouse_v1.pvmap \
--lidar-topic /lidar_points
Map written: warehouse_v1.pvmap (4.2MB, 847 keyframes)Pre-built configuration profiles
The SDK ships with four ready-made config profiles. Load them with pv::ConfigProfile::load(name).
| Profile name | Fusion tier | Target hardware | Intended use |
|---|---|---|---|
warehouse_balanced | Balanced | Orin NX 16GB | Indoor warehouse AMR |
delivery_lowpower | Low-power | Orin NX 16GB | Sidewalk delivery robot |
truck_full | Full | AGX Orin 64GB | Yard / port truck |
dev_eval | Full | x86_64 + GPU | Development and evaluation |