31 lines
1.2 KiB
YAML
31 lines
1.2 KiB
YAML
# 手眼标定测试配置文件
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# 该配置用于测试手眼标定结果的准确性
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# 测试网格参数
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height: 2.0 # 测试平面距离地面高度（米）
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grid_num: 5 # 网格数量（5x5网格）
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grid_size: 0.5 # 网格间距（米）
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delay: 15 # 时间补偿延迟（毫秒）
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# 相机内参（从标定结果复制）
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camera_matrix: [1824.3445767434343, 0, 745.88898611634079, 0, 1828.9000780816298, 584.45884364277663, 0, 0, 1]
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distort_coeffs: [-0.084922638867033884, 0.22051971879198334, -0.00021700148630802023, 0.00043485717343934131, 0]
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# 手眼标定结果（从标定结果复制）
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R_gimbal2imubody: [1, 0, 0, 0, -1, 0, 0, 0, 1]
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R_camera2gimbal: [0.093296993396547734, 0.14503826005617809, -0.9850175501700672, -0.99514483056044212, -0.017561170025079953, -0.096841992524828474, -0.03134385477239883, 0.98927018980015091, 0.14269567036452102]
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t_camera2gimbal: [-0.11903236791933375, -0.012143601357090483, -0.023682825149991701]
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# 相机参数
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camera_name: "hikrobot"
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exposure_ms: 50
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gain: 50.0
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vid_pid: "2bdf:0001"
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# 下位机参数
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com_port: "/dev/ttyACM0"
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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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