84 lines
2.3 KiB
YAML
84 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: 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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#####-----USB相机参数-----#####
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image_width: 1920
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image_height: 1080
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fov_h: 87.7
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fov_v: 56.7
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usb_frame_rate: 60
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usb_exposure: 250 #1-80000______250
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usb_gamma: 160
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usb_gain: 10 #0-96
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#####-----工业相机参数-----#####
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camera_name: "mindvision"
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exposure_ms: 2
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gamma: 0.5
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vid_pid: "f622:d13a"
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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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#####-----cboard参数-----#####
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quaternion_canid: 0x01
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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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#####-----tracker参数-----#####
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min_detect_count: 5
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max_temp_lost_count: 15
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#####-----aimer参数-----#####
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yaw_offset: -2.5 # degree -2.5
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pitch_offset: 3 # degree 2
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comming_angle: 60 # degree
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leaving_angle: 20 # degree
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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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#####-----工业相机标定参数-----#####
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R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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# 重投影误差: 0.1944px
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camera_matrix: [1295.4665175006589, 0, 655.71498478800618, 0, 1297.2591156991834, 506.21320670125334, 0, 0, 1]
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distort_coeffs: [-0.48599095566724387, 0.23999516531343185, -0.00029018466701866776, -0.00083639963030895752, 0]
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# 相机同理想情况的偏角: yaw-2.64 pitch-3.20 roll-0.77 degree
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# 标定板到世界坐标系原点的水平距离: 1.45 m
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# 标定板同竖直摆放时的偏角: yaw90.85 pitch8.54 roll-0.32 degree
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R_camera2gimbal: [0.046736929626455238, -0.055211941324114208, 0.99738021884550865, -0.99881598162461238, -0.016078770676278314, 0.0459141370909011, 0.013501639172863072, -0.99834518813322415, -0.055898041744621867]
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t_camera2gimbal: [0.27420934670256336, 0.0098763306562371159, 0.043798385984197351]
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