Robofish
92ca4a5871
- 新增auto_aim_debug_mpc_ros程序，使用ROS2通信 - 支持实时可视化装甲板重投影 - 支持数据绘图和调试 - 完全兼容原版auto_aim_debug_mpc功能 - 更新CMakeLists.txt，添加auto_aim_debug_mpc_ros编译配置 - 更新README.md，补充ROS2调试程序说明 - 修复configs/sentry.yaml配置文件 - 修正打符模型路径 - 添加fire_thresh参数 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
104 lines
2.7 KiB
YAML
104 lines
2.7 KiB
YAML
# enemy_color: "red"
|
||
enemy_color: "blue"
|
||
|
||
#####-----神经网络参数-----#####
|
||
yolo_name: yolov5
|
||
classify_model: assets/models/tiny_resnet.onnx
|
||
yolo11_model_path: assets/models/yolo11.xml
|
||
yolov8_model_path: assets/models/yolov8.xml
|
||
yolov5_model_path: assets/models/yolov5.xml
|
||
device: CPU
|
||
min_confidence: 0.8
|
||
use_traditional: true
|
||
|
||
#####-----ROI-----#####
|
||
roi:
|
||
x: 420
|
||
y: 50
|
||
width: 600
|
||
height: 600
|
||
|
||
use_roi: false
|
||
|
||
#####-----传统方法参数-----#####
|
||
threshold: 150
|
||
max_angle_error: 45 # degree
|
||
min_lightbar_ratio: 1.5
|
||
max_lightbar_ratio: 20
|
||
min_lightbar_length: 8
|
||
min_armor_ratio: 1
|
||
max_armor_ratio: 5
|
||
max_side_ratio: 1.5
|
||
max_rectangular_error: 25 # degree
|
||
|
||
#####-----tracker参数-----#####
|
||
min_detect_count: 5
|
||
max_temp_lost_count: 15
|
||
outpost_max_temp_lost_count: 75
|
||
|
||
#####-----aimer参数-----#####
|
||
yaw_offset: 2 # degree -2.5
|
||
pitch_offset: 6.5 # degree 2
|
||
comming_angle: 55 # degree
|
||
leaving_angle: 20 # degree
|
||
decision_speed: 7 # rad/s
|
||
high_speed_delay_time: 0.0 # s
|
||
low_speed_delay_time: 0.0 # s planner use this value
|
||
|
||
#####-----shooter参数-----#####
|
||
first_tolerance: 3 # 近距离射击容差，degree
|
||
second_tolerance: 2 # 远距离射击容差，degree
|
||
judge_distance: 2 #距离判断阈值
|
||
auto_fire: true # 是否由自瞄控制射击
|
||
|
||
camera_name: "hikrobot"
|
||
exposure_ms: 2.5
|
||
gain: 16.9
|
||
vid_pid: "2bdf:0001"
|
||
|
||
# 1 0 0
|
||
# 0 1 0
|
||
# 0 0 1
|
||
R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
|
||
|
||
# 重投影误差: 0.1820px
|
||
camera_matrix: [1785.4881526822305, 0, 672.4806478241826, 0, 1785.026019470562, 559.89603224794314, 0, 0, 1]
|
||
distort_coeffs: [-0.076005079619881746, 0.11182817466388446, 0.0005362204787722057, -0.0027546300984895122, 0]
|
||
|
||
# 相机同理想情况的偏角: yaw1.44 pitch-7.28 roll0.96 degree
|
||
# 标定板到世界坐标系原点的水平距离: 1.13 m
|
||
# 标定板同竖直摆放时的偏角: yaw7.61 pitch13.92 roll-0.46 degree
|
||
R_camera2gimbal: [-0.027182119030230909, -0.12616154330853446, 0.99163723074269183, -0.99949106557517331, 0.019998323121329122, -0.024853106601381177, -0.016695575474690555, -0.99180811252093692, -0.12664093215554434]
|
||
t_camera2gimbal: [0.13160669975045827, 0.10377721766577375, 0.024908271912914642]
|
||
|
||
#####-----cboard参数-----#####
|
||
quaternion_canid: 0x100
|
||
bullet_speed_canid: 0x101
|
||
send_canid: 0xff
|
||
can_interface: "can0"
|
||
|
||
#####-----gimbal参数-----#####
|
||
com_port: "/dev/ttyUSB0"
|
||
baudrate: 115200
|
||
yaw_kp: 0
|
||
yaw_kd: 0
|
||
pitch_kp: 0
|
||
pitch_kd: 0
|
||
|
||
#####-----planner-----#####
|
||
fire_thresh: 0.0035
|
||
|
||
max_yaw_acc: 50
|
||
Q_yaw: [9e6, 0]
|
||
R_yaw: [1]
|
||
|
||
max_pitch_acc: 100
|
||
Q_pitch: [9e6, 0]
|
||
R_pitch: [1]
|
||
|
||
#####-----buff_detector参数-----#####
|
||
model: "assets/models/yolo11_buff_int8.xml"
|
||
|
||
#####-----buff_aimer参数-----#####
|
||
fire_gap_time: 0.700 # s
|
||
predict_time: 0.120 # s |