97 lines
2.6 KiB
YAML
97 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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#####-----USB相机参数-----#####
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image_width: 1280
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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: 27 #67
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new_fov_v: 40.9
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usb_frame_rate: 120
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usb_exposure: 500 #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: "hikrobot"
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exposure_ms: 0.8
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gain: 16.9
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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: 25
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outpost_max_temp_lost_count: 75
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#####-----aimer参数-----#####
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yaw_offset: -0.8 # degree -2.5
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pitch_offset: -1 # degree 2
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comming_angle: 60 # degree
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leaving_angle: 20 # degree
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left_yaw_offset: -1
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right_yaw_offset: -0.6
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decision_speed: 10 # rad/s
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high_speed_delay_time: 0.026 # s
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low_speed_delay_time: 0.010 # s
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#####-----shooter参数-----#####
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first_tolerance: 5 # 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: 3 #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: 0.1833px
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camera_matrix: [2414.9359264386621, 0, 717.26243105567414, 0, 2418.0489262208148, 582.68540529942845, 0, 0, 1]
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distort_coeffs: [-0.0209453389287673, 0.15028138841073832, -0.0006517722113234505, -0.0016861906197686788, 0]
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# 相机同理想情况的偏角: yaw-1.11 pitch0.01 roll-0.06 degree
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# 标定板到世界坐标系原点的水平距离: 1.20 m
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# 标定板同竖直摆放时的偏角: yaw123.89 pitch14.05 roll-0.86 degree
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R_camera2gimbal: [0.01928451708725664, 0.00012696140743255463, 0.99981402834802846, -0.99981344688553653, -0.0010834913551969569, 0.019284643459122196, 0.0010857382619952124, -0.99999940496346484, 0.00010604311483339372]
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t_camera2gimbal: [0.13089617453251859, 0.0038468007459533785, 0.094139945222010288]
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