100 lines
2.6 KiB
YAML
100 lines
2.6 KiB
YAML
# enemy_color: "red"
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enemy_color: "blue"
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#####-----神经网络参数-----#####
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yolo_name: yolov5
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classify_model: assets/tiny_resnet.onnx
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yolo11_model_path: assets/yolo11.xml
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yolov8_model_path: assets/yolov8.xml
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yolov5_model_path: assets/yolov5.xml
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device: GPU
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min_confidence: 0.75
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use_traditional: true
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#####-----ROI-----#####
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roi:
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x: 420
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y: 50
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width: 600
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height: 600
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use_roi: false
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#####-----传统方法参数-----#####
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threshold: 150
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max_angle_error: 45 # degree
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min_lightbar_ratio: 1.5
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max_lightbar_ratio: 20
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min_lightbar_length: 8
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min_armor_ratio: 1
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max_armor_ratio: 5
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max_side_ratio: 1.5
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max_rectangular_error: 25 # degree
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#####-----tracker参数-----#####
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min_detect_count: 5
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max_temp_lost_count: 15
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outpost_max_temp_lost_count: 75
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#####-----aimer参数-----#####
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yaw_offset: 2 # degree -2.5
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pitch_offset: -0.5 # degree 2
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comming_angle: 55 # degree
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leaving_angle: 20 # degree
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decision_speed: 1.57 # rad/s
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high_speed_delay_time: 0.0 # s
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low_speed_delay_time: 0.0 # s planner use this value
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#####-----shooter参数-----#####
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first_tolerance: 3 # 近距离射击容差，degree
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second_tolerance: 2 # 远距离射击容差，degree
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judge_distance: 2 #距离判断阈值
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auto_fire: true # 是否由自瞄控制射击
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camera_name: "hikrobot"
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exposure_ms: 2.5
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gain: 16.9
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vid_pid: "2bdf:0001"
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# 重投影误差: 0.0840px
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camera_matrix: [1834.1536403391224, 0, 748.34431374203518, 0, 1838.4254732917539, 592.07179931054554, 0, 0, 1]
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distort_coeffs: [-0.089753587550662386, 0.25043670633576026, 0.00028701704204080067, 0.00026068590699182429, 0]
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R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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# 相机同理想情况的偏角: yaw0.65 pitch0.98 roll-4.71 degree
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# 标定板到世界坐标系原点的水平距离: 1.20 m
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# 标定板同竖直摆放时的偏角: yaw76.91 pitch5.90 roll-4.25 degree
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R_camera2gimbal: [-0.012713492697510044, 0.016094161023931495, 0.99978965041870982, -0.9965458575215137, -0.082265286272855259, -0.011347974760117781, 0.082065345671248222, -0.99648050691189183, 0.017084448614971628]
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t_camera2gimbal: [0.099890931342671643, 0.0015513845612699661, 0.048389617922529167]
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#####-----cboard参数-----#####
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quaternion_canid: 0x100
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bullet_speed_canid: 0x101
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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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yaw_kp: 0
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yaw_kd: 0
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pitch_kp: 0
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pitch_kd: 0
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#####-----planner-----#####
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fire_thresh: 0.0035
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max_yaw_acc: 50
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Q_yaw: [9e6, 0]
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R_yaw: [1]
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max_pitch_acc: 100
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Q_pitch: [9e6, 0]
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R_pitch: [1]
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#####-----buff_detector参数-----#####
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model: "assets/yolo11_buff_int8.xml"
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#####-----buff_aimer参数-----#####
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fire_gap_time: 0.700 # s
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predict_time: 0.120 # s |