99 lines
2.4 KiB
YAML
99 lines
2.4 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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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: -2 # degree -2.5
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pitch_offset: 0 # 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: 0.015 # 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: 0.3145px
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camera_matrix: [1851.7070167840545, 0, 721.12585328714192, 0, 1851.8175594364079, 571.69879709276688, 0, 0, 1]
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distort_coeffs: [-0.093662536083526302, 0.18945726820633155, -0.00040424349861928674, -0.0040568403852123142, 0]
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# 相机同理想情况的偏角: yaw-1.61 pitch-0.82 roll-0.61 degree
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R_camera2gimbal: [0.02823004230930648, -0.014076983590428133, 0.99950232778328707, -0.99954530259354468, -0.010995644138609872, 0.028076393521179785, 0.010594940981141165, -0.99984045444409364, -0.014380990321749998]
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t_camera2gimbal: [0.045517325957791413, 0.10544338092767802, 0.034649710880185793]
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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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model: "assets/yolo11_buff_int8.xml"
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#####-----buff_aimer参数-----#####
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fire_gap_time: 0.520 # s
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predict_time: 0.100 # s |