121 lines
3.0 KiB
YAML
121 lines
3.0 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: CPU
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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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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 # degree -2.5
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pitch_offset: -1.4 # degree 2
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comming_angle: 60 # degree
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leaving_angle: 20 # degree
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decision_speed: 8 # rad/s
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high_speed_delay_time: 0.030 # 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: 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
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gain: 16
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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: 0.2697px
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camera_matrix: [1818.3669452465165, 0, 751.06226574703498, 0, 1822.494494078506, 530.43671556112133, 0, 0, 1]
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distort_coeffs: [-0.077944626599568856, 0.15447826031486889, -0.0025714394278524674, 0.00083016311301273629, 0]
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# 相机同理想情况的偏角: yaw0.46 pitch0.61 roll-1.53 degree
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R_camera2gimbal: [-0.0083195760046954614, 0.010498791137270739, 0.99991027599468041, -0.99960756138647755, -0.026835747568381807, -0.0080352891314148939, 0.026748978935305992, -0.99958472279097077, 0.010717933047771133]
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t_camera2gimbal: [0.094969301833534511, 0.095006290298006682, 0.050987066291756609]
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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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#####-----planner-----#####
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fire_thresh: 0.003
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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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detect:
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contrast: 1
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brightness:
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blue: -120
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red: -100
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brightness_threshold:
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blue: 120
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red: 40
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morphology_size:
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blue: 3
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red: 3
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dilate_size: 2
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# canny_low_threshold: 100
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# canny_high_threshold: 180
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# approx_epsilon: 1.0
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R_contours_min_area: 200
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R_contours_max_area: 600
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fanblades_head_contours_min_area: 3000
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fanblades_head_contours_max_area: 8000
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fanblades_body_contours_min_area: 1000
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fanblades_body_contours_max_area: 4000
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standard_fanblade_path: ./assets/standard_fanblade.jpg
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#####-----buff_aimer参数-----#####
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aim_time: 0.150 # s
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wait_time: 0.300 # s
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command_fire_gap: 0.080 # s
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predict_time: 0.150 # s |