神奇

assets/camera_calib/1.txt

@@ -1 +1 @@
-0.7177201718666837 0.09187038370024973 0.09699144216061435 -0.6833961132769422
+0.7945099292803862 -0.0434575467108611 0.07481947984239669 0.601055288093252

assets/camera_calib/10.txt

@@ -1 +1 @@
-0.6540393670774336 0.11673220229558735 0.104104730295333 -0.74011371044611
+0.8320261217979533 -0.010711187380915883 0.034853447736525024 0.5535368463721503

assets/camera_calib/11.txt

@@ -1 +1 @@
-0.6695365068706467 0.11396525651605409 0.10689676647567184 -0.7261582937567594
+0.8173712544780483 -0.011828605094770673 0.03328423249804994 0.5750273700629471

assets/camera_calib/12.txt

@@ -1 +1 @@
-0.6865027206257972 0.11121980925498735 0.10959354583553703 -0.7101643635904696
+0.7984894363309989 -0.013758457040363277 0.032468299086838105 0.6009751529656445

assets/camera_calib/13.txt

@@ -1 +1 @@
-0.7029618311310923 0.10910831122785473 0.114008892573956 -0.693499828989083
+0.7800486898114236 -0.012651950562476097 0.03220614946153963 0.624761341319473

assets/camera_calib/14.txt

@@ -1 +1 @@
-0.6846990959849547 0.11378336536460135 0.1095621509728064 -0.7115030771528001
+0.7710456452265627 -0.02186493764130126 0.04513486486644217 0.6348018442416371

assets/camera_calib/15.txt

@@ -1 +1 @@
-0.7105886427866503 0.09454929951290965 0.09772990470338523 -0.6903427238922067
+0.7916711278986903 -0.07209407556694548 0.11214836806575476 0.5962231235535496

assets/camera_calib/16.txt

@@ -1 +1 @@
-0.7082004773279313 0.09457995680211755 0.09737030792091227 -0.6928388981712751
+0.8045946318607127 -0.06785936367345102 0.11352663362431434 0.5789078411981385

assets/camera_calib/17.txt

@@ -1 +1 @@
-0.6864091145945169 0.08696336166250927 0.08462036719328926 -0.7170211256204378
+0.8215749957916847 -0.06455802999670587 0.11384191417076965 0.5548754866010687

assets/camera_calib/18.txt

@@ -1 +1 @@
-0.6667428632979302 0.10364170157370939 0.0955403079117792 -0.7318363215229934
+0.8368116765764088 -0.06352479955713666 0.11690362951903568 0.5310784868471715

assets/camera_calib/19.txt

@@ -1 +1 @@
-0.6608952401030105 0.0924475886118082 0.08181877213214009 -0.7402544248404296
+0.7659234104878251 -0.05152390626763256 0.07971188746430936 0.6358872788053714

assets/camera_calib/2.txt

@@ -1 +1 @@
-0.7258014151886103 0.06893544090588102 0.07336676467256588 -0.6804980003929494
+0.7711539361232197 -0.04474533855113315 0.07190790375467529 0.6309902652634334

assets/camera_calib/20.txt

@@ -1 +1 @@
-0.6368114936681568 0.09604567438504773 0.07995934840288652 -0.7608237986334537
+0.7843599785188415 -0.07036673754547611 0.10757796487882619 0.6068401171788649

assets/camera_calib/21.txt

@@ -1 +1 @@
-0.6572286496356463 0.07285829130720428 0.06370958053012925 -0.7474511762212797
+0.8107296801983674 -0.06562048651309176 0.11368406086180097 0.5705149180356358

assets/camera_calib/22.txt

@@ -1 +1 @@
-0.6350787937658589 0.07596458908813118 0.06184461820780068 -0.7662111654839704
+0.7935983038966267 -0.033809170582879966 0.06190002705631246 0.6043401845710105

assets/camera_calib/23.txt

@@ -0,0 +1 @@
+0.8237228560732456 -0.030521906459115355 0.06638363742866517 0.5622653130777103

assets/camera_calib/24.txt

@@ -0,0 +1 @@
+0.8491398787146873 -0.025532247411769002 0.05836177108338319 0.5243123824539347

assets/camera_calib/3.txt

@@ -1 +1 @@
-0.7153160451022573 0.06679164379924944 0.06815692277445147 -0.6922546249869169
+0.7548850619033333 -0.047418777216818586 0.07093119403444739 0.650283606279068

assets/camera_calib/4.txt

@@ -1 +1 @@
-0.6895526075414257 0.07227717802997588 0.06701324523260725 -0.7174973421081351
+0.7591377331693356 -0.04763573374267206 0.07336706642951026 0.6450255905875732

assets/camera_calib/5.txt

@@ -1 +1 @@
-0.6755160976098915 0.06749445326901966 0.0605731820592963 -0.7317468074840031
+0.7583547886588434 -0.022422481447733462 0.044038113363287834 0.6499660694338815

assets/camera_calib/6.txt

@@ -1 +1 @@
-0.6554968212916839 0.0710136384754573 0.06108937801660896 -0.7493657773881318
+0.7789208034949294 -0.021997736668215327 0.048119363872661865 0.624886396303184

assets/camera_calib/7.txt

@@ -1 +1 @@
-0.6453150221921371 0.08754614426431993 0.07488900209128711 -0.7551793377227582
+0.8037386906226677 -0.020333318885384567 0.048369913784180284 0.5926643441103707

assets/camera_calib/8.txt

@@ -1 +1 @@
-0.6436936453206352 0.1018123504027431 0.08674315464388545 -0.7535040553319725
+0.8256625130752344 -0.020650051549974013 0.04936930246923488 0.5616205675070786

assets/camera_calib/9.txt

@@ -1 +1 @@
-0.6409116406794043 0.11242770296004105 0.09554048153994232 -0.7533022612709181
+0.8377166207827541 -0.020123362855542434 0.049144700467202415 0.5435169840471376

cali.MD

@@ -0,0 +1,2 @@
+./build/capture configs/calibration.yaml -o assets/camera_calib
+./build/calibrate_camera assets/camera_calib

configs/calibration.yaml

@@ -2,21 +2,23 @@ pattern_cols: 10
 pattern_rows: 7
 center_distance_mm: 39
 
-# 重投影误差: 0.0833px
-camera_matrix: [1824.3445767434343, 0, 745.88898611634079, 0, 1828.9000780816298, 584.45884364277663, 0, 0, 1]
-distort_coeffs: [-0.084922638867033884, 0.22051971879198334, -0.00021700148630802023, 0.00043485717343934131, 0]
+# 重投影误差: 0.0840px
+camera_matrix: [1834.1536403391224, 0, 748.34431374203518, 0, 1838.4254732917539, 592.07179931054554, 0, 0, 1]
+distort_coeffs: [-0.089753587550662386, 0.25043670633576026, 0.00028701704204080067, 0.00026068590699182429, 0]
 
 R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
 
-# 相机同理想情况的偏角: yaw174.40 pitch8.20 roll178.20 degree
-R_camera2gimbal: [0.093296993396547734, 0.14503826005617809, -0.9850175501700672, -0.99514483056044212, -0.017561170025079953, -0.096841992524828474, -0.03134385477239883, 0.98927018980015091, 0.14269567036452102]
-t_camera2gimbal: [-0.11903236791933375, -0.012143601357090483, -0.023682825149991701]
+# 相机同理想情况的偏角: yaw0.65 pitch0.98 roll-4.71 degree
+# 标定板到世界坐标系原点的水平距离: 1.20 m
+# 标定板同竖直摆放时的偏角: yaw76.91 pitch5.90 roll-4.25 degree
+R_camera2gimbal: [-0.012713492697510044, 0.016094161023931495, 0.99978965041870982, -0.9965458575215137, -0.082265286272855259, -0.011347974760117781, 0.082065345671248222, -0.99648050691189183, 0.017084448614971628]
+t_camera2gimbal: [0.099890931342671643, 0.0015513845612699661, 0.048389617922529167]
 
 #####-----gimbal参数-----#####
 com_port: "/dev/ttyACM0"
 
 camera_name: "hikrobot"
-exposure_ms: 50
+exposure_ms: 20
 gain: 50.0
 vid_pid: "2bdf:0001"
 

configs/sentry.yaml

@@ -1,7 +1,6 @@
 enemy_color: "red"
 # enemy_color: "blue"
 
-
 #####-----神经网络参数-----#####
 yolo_name: yolov5
 classify_model: assets/tiny_resnet.onnx
@@ -9,8 +8,8 @@ yolo11_model_path: assets/yolo11.xml
 yolov8_model_path: assets/yolov8.xml
 yolov5_model_path: assets/yolov5.xml
 device: GPU
-min_confidence: 0.8
-use_traditional: false
+min_confidence: 0.75
+use_traditional: true
 
 #####-----ROI-----#####
 roi: 
@@ -21,24 +20,6 @@ roi:
 
 use_roi: false
 
-#####-----USB相机参数-----#####
-image_width: 1280
-image_height: 720
-fov_h: 57.7 #87.7
-fov_v: 56.7 
-new_fov_h: 27 #67
-new_fov_v: 40.9
-usb_frame_rate: 120
-usb_exposure: 500 #1-80000______250
-usb_gamma: 160
-usb_gain: 10 #0-96
-
-#####-----工业相机参数-----#####
-camera_name: "hikrobot"
-exposure_ms: 0.8
-gain: 16.9
-vid_pid: "2bdf:0001"
-
 #####-----传统方法参数-----#####
 threshold: 150
 max_angle_error: 45 # degree
@@ -49,48 +30,71 @@ min_armor_ratio: 1
 max_armor_ratio: 5
 max_side_ratio: 1.5
 max_rectangular_error: 25 # degree
-min_confidence: 0.8
-
-#####-----cboard参数-----#####
-quaternion_canid: 0x01
-bullet_speed_canid: 0x110
-send_canid: 0xff
-can_interface: "can0"
 
 #####-----tracker参数-----#####
 min_detect_count: 5
-max_temp_lost_count: 25
+max_temp_lost_count: 15
 outpost_max_temp_lost_count: 75
 
 #####-----aimer参数-----#####
-yaw_offset: -0.8 # degree -2.5
-pitch_offset: -1  # degree 2
-comming_angle: 60 # degree
+yaw_offset: 2 # degree -2.5
+pitch_offset: -6.5 # degree 2
+comming_angle: 55 # degree
 leaving_angle: 20 # degree
-left_yaw_offset: -1
-right_yaw_offset: -0.6
-decision_speed: 10 # rad/s
-high_speed_delay_time: 0.026 # s
-low_speed_delay_time: 0.010 # s
+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: 5 # 近距离射击容差，degree
+first_tolerance: 3 # 近距离射击容差，degree
 second_tolerance: 2 # 远距离射击容差，degree
-judge_distance: 3 #距离判断阈值
+judge_distance: 2 #距离判断阈值
 auto_fire: true # 是否由自瞄控制射击
 
-#####-----decider参数-----#####
-mode: 1
+camera_name: "hikrobot"
+exposure_ms: 2.5
+gain: 16.9
+vid_pid: "2bdf:0001"
+
+# 重投影误差: 0.0840px
+camera_matrix: [1834.1536403391224, 0, 748.34431374203518, 0, 1838.4254732917539, 592.07179931054554, 0, 0, 1]
+distort_coeffs: [-0.089753587550662386, 0.25043670633576026, 0.00028701704204080067, 0.00026068590699182429, 0]
 
-#####-----工业相机标定参数-----#####
 R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
 
-# 重投影误差: 0.1833px
-camera_matrix: [2414.9359264386621, 0, 717.26243105567414, 0, 2418.0489262208148, 582.68540529942845, 0, 0, 1]
-distort_coeffs: [-0.0209453389287673, 0.15028138841073832, -0.0006517722113234505, -0.0016861906197686788, 0]
-
-# 相机同理想情况的偏角: yaw-1.11 pitch0.01 roll-0.06 degree
+# 相机同理想情况的偏角: yaw0.65 pitch0.98 roll-4.71 degree
 # 标定板到世界坐标系原点的水平距离: 1.20 m
-# 标定板同竖直摆放时的偏角: yaw123.89 pitch14.05 roll-0.86 degree
-R_camera2gimbal: [0.01928451708725664, 0.00012696140743255463, 0.99981402834802846, -0.99981344688553653, -0.0010834913551969569, 0.019284643459122196, 0.0010857382619952124, -0.99999940496346484, 0.00010604311483339372]
-t_camera2gimbal: [0.13089617453251859, 0.0038468007459533785, 0.094139945222010288]
+# 标定板同竖直摆放时的偏角: yaw76.91 pitch5.90 roll-4.25 degree
+R_camera2gimbal: [-0.012713492697510044, 0.016094161023931495, 0.99978965041870982, -0.9965458575215137, -0.082265286272855259, -0.011347974760117781, 0.082065345671248222, -0.99648050691189183, 0.017084448614971628]
+t_camera2gimbal: [0.099890931342671643, 0.0015513845612699661, 0.048389617922529167]
+
+#####-----cboard参数-----#####
+quaternion_canid: 0x100
+bullet_speed_canid: 0x101
+send_canid: 0xff
+can_interface: "can0"
+
+#####-----gimbal参数-----#####
+com_port: "/dev/ttyUSB0"
+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/yolo11_buff_int8.xml"
+
+#####-----buff_aimer参数-----#####
+fire_gap_time: 0.700   # s
+predict_time: 0.120     # s

io/gimbal/gimbal.cpp

@@ -199,11 +199,11 @@ void Gimbal::read_thread()
     // float bullet_speed = rx_data_.bullet_speed;
     // uint16_t bullet_count = rx_data_.bullet_count, crc16 = rx_data_.crc16;
     
-    tools::logger()->debug(
-      "[Gimbal] mode: {}, q: [{:.3f}, {:.3f}, {:.3f}, {:.3f}], yaw: {:.3f}, yaw_vel: {:.3f}, "
-      "pitch: {:.3f}, pitch_vel: {:.3f}, bullet_speed: {:.3f}, bullet_count: {}, crc16: {}",
-      rx_data_.mode, q0, q1, q2, q3, yaw, yaw_vel, pitch, pitch_vel, bullet_speed,
-      bullet_count, crc16);
+    // tools::logger()->debug(
+    //   "[Gimbal] mode: {}, q: [{:.3f}, {:.3f}, {:.3f}, {:.3f}], yaw: {:.3f}, yaw_vel: {:.3f}, "
+    //   "pitch: {:.3f}, pitch_vel: {:.3f}, bullet_speed: {:.3f}, bullet_count: {}, crc16: {}",
+    //   rx_data_.mode, q0, q1, q2, q3, yaw, yaw_vel, pitch, pitch_vel, bullet_speed,
+    //   bullet_count, crc16);
     error_count = 0;
     Eigen::Quaterniond q(rx_data_.q[0], rx_data_.q[1], rx_data_.q[2], rx_data_.q[3]);
     queue_.push({q, t});

src/auto_aim_debug_mpc.cpp

@@ -62,6 +62,12 @@ int main(int argc, char * argv[])
         plan.control, plan.fire, plan.yaw, plan.yaw_vel, plan.yaw_acc, plan.pitch, plan.pitch_vel,
         plan.pitch_acc);
 
+      tools::logger()->info(
+        "Target: yaw={:.3f}, pitch={:.3f} | Plan: yaw={:.3f}, pitch={:.3f} | Control={}, Fire={} | "
+        "Bullet_speed={:.2f}m/s",
+        plan.target_yaw, plan.target_pitch, plan.yaw, plan.pitch, plan.control, plan.fire,
+        gs.bullet_speed);
+
       auto fired = gs.bullet_count > last_bullet_count;
       last_bullet_count = gs.bullet_count;
 

true/1.txt

@@ -1 +0,0 @@
-0.7177201718666837 0.09187038370024973 0.09699144216061435 -0.6833961132769422

true/10.txt

@@ -1 +0,0 @@
-0.6540393670774336 0.11673220229558735 0.104104730295333 -0.74011371044611

true/11.txt

@@ -1 +0,0 @@
-0.6695365068706467 0.11396525651605409 0.10689676647567184 -0.7261582937567594

true/12.txt

@@ -1 +0,0 @@
-0.6865027206257972 0.11121980925498735 0.10959354583553703 -0.7101643635904696

true/13.txt

@@ -1 +0,0 @@
-0.7029618311310923 0.10910831122785473 0.114008892573956 -0.693499828989083

true/14.txt

@@ -1 +0,0 @@
-0.6846990959849547 0.11378336536460135 0.1095621509728064 -0.7115030771528001

true/15.txt

@@ -1 +0,0 @@
-0.7105886427866503 0.09454929951290965 0.09772990470338523 -0.6903427238922067

true/16.txt

@@ -1 +0,0 @@
-0.7082004773279313 0.09457995680211755 0.09737030792091227 -0.6928388981712751

true/17.txt

@@ -1 +0,0 @@
-0.6864091145945169 0.08696336166250927 0.08462036719328926 -0.7170211256204378

true/18.txt

@@ -1 +0,0 @@
-0.6667428632979302 0.10364170157370939 0.0955403079117792 -0.7318363215229934

true/19.txt

@@ -1 +0,0 @@
-0.6608952401030105 0.0924475886118082 0.08181877213214009 -0.7402544248404296

true/2.txt

@@ -1 +0,0 @@
-0.7258014151886103 0.06893544090588102 0.07336676467256588 -0.6804980003929494

true/20.txt

@@ -1 +0,0 @@
-0.6368114936681568 0.09604567438504773 0.07995934840288652 -0.7608237986334537

true/21.txt

@@ -1 +0,0 @@
-0.6572286496356463 0.07285829130720428 0.06370958053012925 -0.7474511762212797

true/22.txt

@@ -1 +0,0 @@
-0.6350787937658589 0.07596458908813118 0.06184461820780068 -0.7662111654839704

true/3.txt

@@ -1 +0,0 @@
-0.7153160451022573 0.06679164379924944 0.06815692277445147 -0.6922546249869169

true/4.txt

@@ -1 +0,0 @@
-0.6895526075414257 0.07227717802997588 0.06701324523260725 -0.7174973421081351

true/5.txt

@@ -1 +0,0 @@
-0.6755160976098915 0.06749445326901966 0.0605731820592963 -0.7317468074840031

true/6.txt

@@ -1 +0,0 @@
-0.6554968212916839 0.0710136384754573 0.06108937801660896 -0.7493657773881318

true/7.txt

@@ -1 +0,0 @@
-0.6453150221921371 0.08754614426431993 0.07488900209128711 -0.7551793377227582

true/8.txt

@@ -1 +0,0 @@
-0.6436936453206352 0.1018123504027431 0.08674315464388545 -0.7535040553319725

true/9.txt

@@ -1 +0,0 @@
-0.6409116406794043 0.11242770296004105 0.09554048153994232 -0.7533022612709181