86 lines
2.3 KiB
YAML
86 lines
2.3 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: false
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#####-----ROI-----#####
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roi:
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x: 500
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y: 400
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width: 500
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height: 500
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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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min_confidence: 0.8
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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: 1.5 # degree
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pitch_offset: -0.5 # degree
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comming_angle: 60 # 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: 0.050 # s
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low_speed_delay_time: 0.015 # s
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#####-----shooter参数-----#####
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first_tolerance: 100 # 近距离射击容差，degree
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second_tolerance: 100 # 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
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gain: 16
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vid_pid: "2bdf:0001"
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R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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# 重投影误差: 0.1488px
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camera_matrix: [1775.1300101814929, 0, 710.22041588791421, 0, 1777.9427175568535, 599.38373307949621, 0, 0, 1]
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distort_coeffs: [-0.081907189655237952, 0.14019999270205855, -0.0012264127665053185, 0.0014292255962000792, 0]
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# 相机同理想情况的偏角: yaw1.81 pitch0.16 roll-0.00 degree
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R_camera2gimbal: [-0.03152275773856239, 0.0027095830669845509, 0.99949936163269204, -0.99950303430107212, -9.8404785402239625e-05, -0.031522606799691932, 1.2942398579498703e-05, -0.99999632423129503, 0.0027113384873522772]
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t_camera2gimbal: [0.13895789074180098, 0.066620637390426771, 0.028079650211170731]
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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/gimbal"
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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: 0.520 # s
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predict_time: 0.100 # s
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