103 lines
2.6 KiB
YAML
103 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: 0.8
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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: 6.5 # degree 2
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comming_angle: 55 # degree
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leaving_angle: 20 # degree
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decision_speed: 7 # 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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# 1 0 0
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# 0 1 0
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# 0 0 1
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R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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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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# 相机同理想情况的偏角: yaw-2.19 pitch0.60 roll-1.22 degree
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# 标定板到世界坐标系原点的水平距离: 1.13 m
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# 标定板同竖直摆放时的偏角: yaw-82.48 pitch10.19 roll-0.28 degree
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R_camera2gimbal: [0.037945134408690975, 0.011210224413650311, 0.99921694223191693, -0.99905391724335679, -0.020835442782907131, 0.038172696587273909, 0.021247051922802046, -0.99972006841547179, 0.010409014936772491]
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t_camera2gimbal: [0.14266900667253352, 0.0061791593160151776, 0.051417922179356944]
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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/ttyACM0"
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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 |