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fix uav

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This commit is contained in:
Robofish 2026-03-14 01:17:29 +08:00
parent c046635bb9
commit 8ff5ff5be9
2 changed files with 9 additions and 8 deletions
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1
CMakeLists.txt
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@ -74,6 +74,7 @@ add_executable(cboard_test src/task/test/cboard_test.cpp)
add_executable(fire_test src/task/test/fire_test.cpp)
add_executable(detector_video_test src/task/test/detector_video_test.cpp)
add_executable(gimbal_response_test src/task/test/gimbal_response_test.cpp)
add_executable(gimbal src/)
add_executable(multi_usbcamera_test src/task/test/multi_usbcamera_test.cpp)
add_executable(usbcamera_detect_test src/task/test/usbcamera_detect_test.cpp)
add_executable(usbcamera_test src/task/test/usbcamera_test.cpp)

16
configs/uav.yaml
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@ -88,16 +88,16 @@ auto_fire: true # 是否由自瞄控制射击
#####-----工业相机标定参数-----#####
R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
# 重投影误差: 0.1032px
camera_matrix: [2924.6190997571712, 0, 647.0245571651617, 0, 2927.4258594148396, 388.18625585771758, 0, 0, 1]
distort_coeffs: [-0.58886594170687334, 0.32512251112647716, 0.012447953238733123, -0.0032411418907421475, 0]
# 相机同理想情况的偏角: yaw0.02 pitch1.94 roll1.40 degree
# 标定板到世界坐标系原点的水平距离: 4.12 m
# 标定板同竖直摆放时的偏角: yaw-87.29 pitch7.65 roll-0.51 degree
R_camera2gimbal: [0.00046423063676173171, 0.033770528223625203, 0.99942950522456209, -0.99970300483287733, 0.024367462669785803, -0.00035901413901253575, -0.02436568525675643, -0.99913251282626891, 0.03377181066266309]
t_camera2gimbal: [-0.034955523715399906, -0.000074403211899371, 0.001248173910106823]
# 重投影误差: 0.0898px
camera_matrix: [1798.7099895400202, 0, 684.19918992969656, 0, 1796.3922446630108, 518.69958730895587, 0, 0, 1]
distort_coeffs: [-0.071257863313183595, 0.12680911204832926, -0.00040857684893118372, 0.00024631839497110973, 0]
# 相机同理想情况的偏角: yaw178.69 pitch-0.94 roll0.93 degree
# 标定板到世界坐标系原点的水平距离: 1.80 m
# 标定板同竖直摆放时的偏角: yaw-149.70 pitch4.40 roll4.02 degree
R_camera2gimbal: [-0.022834689599904982, 0.016744625574604668, -0.99959901683887342, 0.99960655377849394, -0.015908035926893712, -0.023101342732220788, -0.016288480406682074, -0.99973324037330835, -0.016374782402407043]
t_camera2gimbal: [-0.14646198800830063, -0.05254199849465014, 0.047644612585921703]
#####-----buff_detector参数-----#####
model: "assets/yolo11_buff_int8.xml"