# 手眼标定测试配置文件
# 该配置用于测试手眼标定结果的准确性

# 测试网格参数
height: 2.0        # 测试平面距离地面高度（米）
grid_num: 5        # 网格数量（5x5网格）
grid_size: 0.5     # 网格间距（米）
delay: 15          # 时间补偿延迟（毫秒）

# 相机内参（从标定结果复制）
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]

# 手眼标定结果（从标定结果复制）
R_gimbal2imubody: [1, 0, 0, 0, -1, 0, 0, 0, 1]
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]

# 相机参数
camera_name: "hikrobot"
exposure_ms: 50
gain: 50.0
vid_pid: "2bdf:0001"

# 下位机参数
com_port: "/dev/ttyACM0"
quaternion_canid: 0x01
bullet_speed_canid: 0x110
send_canid: 0xff
can_interface: "can0"