125 lines
2.8 KiB
YAML
125 lines
2.8 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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#####-----USB相机参数-----#####
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image_width: 640
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image_height: 360
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new_image_width: 1280
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new_image_height: 720
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fov_h: 57.7 #87.7
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fov_v: 56.7
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new_fov_h: 37 #67
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new_fov_v: 40.9
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usb_frame_rate: 60
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usb_exposure: 305 #1-80000______250
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new_usb_exposure: 320
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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: "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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#####-----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: 0x110
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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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outpost_max_temp_lost_count: 75
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#####-----aimer参数-----#####
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yaw_offset: -2.5 # degree -2.5
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pitch_offset: 0 # degree 2
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comming_angle: 70 # degree
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leaving_angle: 30 # degree
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decision_speed: 7 # rad/s
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high_speed_delay_time: 0.066 # 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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#####-----decider参数-----#####
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mode: 1
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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: 0.1322px
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camera_matrix: [1776.9477196851155, 0, 756.31235265560952, 0, 1776.0591253569607, 566.16539069551641, 0, 0, 1]
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distort_coeffs: [-0.08382326954462313, 0.097449270330296239, -0.0012558283068959985, 0.0037372210254148081, 0]
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R_camera2gimbal: [0, 0, 1, -1, 0, 0, 0, -1, 0]
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t_camera2gimbal: [0.1, 0, 0.05]
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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: 80
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morphology_size:
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blue: 3
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red: 2
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dilate_size: 1
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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: 1
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R_contours_max_area: 600
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fanblades_head_contours_min_area: 300
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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: 0.200 # s
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wait_time: 0.050 # s
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predict_time: 0.300 # s
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