27 lines
982 B
YAML
27 lines
982 B
YAML
pattern_cols: 10
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pattern_rows: 7
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center_distance_mm: 39
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# 重投影误差: 0.0833px
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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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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: yaw174.40 pitch8.20 roll178.20 degree
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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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#####-----gimbal参数-----#####
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com_port: "/dev/ttyACM0"
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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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#####-----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" |