103 lines
2.6 KiB
YAML
103 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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#####-----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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#####-----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 # degree -2.5
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pitch_offset: 6.5 # degree 2
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comming_angle: 55 # 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: 0.0 # s
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low_speed_delay_time: 0.0 # s planner use this value
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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: 2.5
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gain: 16.9
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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: 0.1820px
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camera_matrix: [1785.4881526822305, 0, 672.4806478241826, 0, 1785.026019470562, 559.89603224794314, 0, 0, 1]
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distort_coeffs: [-0.076005079619881746, 0.11182817466388446, 0.0005362204787722057, -0.0027546300984895122, 0]
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# 相机同理想情况的偏角: yaw1.44 pitch-7.28 roll0.96 degree
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# 标定板到世界坐标系原点的水平距离: 1.13 m
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# 标定板同竖直摆放时的偏角: yaw7.61 pitch13.92 roll-0.46 degree
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R_camera2gimbal: [-0.027182119030230909, -0.12616154330853446, 0.99163723074269183, -0.99949106557517331, 0.019998323121329122, -0.024853106601381177, -0.016695575474690555, -0.99180811252093692, -0.12664093215554434]
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t_camera2gimbal: [0.13160669975045827, 0.10377721766577375, 0.024908271912914642]
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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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yaw_kp: 0
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yaw_kd: 0
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pitch_kp: 0
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pitch_kd: 0
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#####-----planner-----#####
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fire_thresh: 0.0035
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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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model: "assets/yolo11_buff_int8.xml"
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#####-----buff_aimer参数-----#####
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fire_gap_time: 0.700 # s
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predict_time: 0.120 # s |