26 lines
700 B
YAML
26 lines
700 B
YAML
pattern_cols: 11
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pattern_rows: 8
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center_distance_mm: 30
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pattern_type: chessboard # circles_grid | chessboard
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R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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rotate_180: false
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camera_name: "hikrobot"
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exposure_ms: 3
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gain: 10.0
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vid_pid: "2bdf:0001"
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#####-----cboard参数-----#####
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quaternion_canid: 0x01
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bullet_speed_canid: 0x110
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send_canid: 0xff
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can_interface: "can0"
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#####-----gimbal参数-----#####
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com_port: "/dev/ttyUSB0"
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baudrate: 115200
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# 重投影误差: 0.1791px
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camera_matrix: [1827.8294221039337, 0, 716.86057740384501, 0, 1828.9736207357851, 613.69509305531699, 0, 0, 1]
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distort_coeffs: [-0.083642708058668358, 0.18891600176175308, -0.00030362184648520616, -0.00066798903909152669, 0]
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