26 lines
696 B
YAML
26 lines
696 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: 30
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gain: 16.0
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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: 0.0654px
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camera_matrix: [1794.7763123680743, 0, 762.48990119722805, 0, 1794.6747019516008, 546.1981535799863, 0, 0, 1]
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distort_coeffs: [-0.07577568384219846, 0.14361612515698613, 0.00057329040489542368, 0.0001190829309863327, 0]
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