105 lines
2.8 KiB
YAML
105 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: 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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use_roi: false
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#####-----工业相机参数-----#####
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camera_name: "mindvision"
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exposure_ms: 8
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gamma: 0.6
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vid_pid: "f622:d13a"
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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: 87.7
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fov_v: 56.7
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new_fov_h: 67
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new_fov_v: 40.9
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usb_frame_rate: 100
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usb_exposure: 315 #1-80000______250
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usb_gamma: 160
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usb_gain: 10 #0-96
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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: 0x001
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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: 150
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#####-----aimer参数-----#####
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yaw_offset: 0 # degree -2.5
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pitch_offset: 1.5 # degree 2
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comming_angle: 70 # degree
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leaving_angle: 30 # degree
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min_spin_speed: 2 # rad/s
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decision_speed: 12 # rad/s
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high_speed_delay_time: 0.005 # s
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low_speed_delay_time: 0.005 # s
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#####-----decider参数-----#####
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mode: 1
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#####-----shooter参数-----#####
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first_tolerance: 2 # 近距离射击容差，degree
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second_tolerance: 0.8 # 远距离射击容差，degree
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judge_distance: 0.5 #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: 0.1032px
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camera_matrix: [2924.6190997571712, 0, 647.0245571651617, 0, 2927.4258594148396, 388.18625585771758, 0, 0, 1]
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distort_coeffs: [-0.58886594170687334, 0.32512251112647716, 0.012447953238733123, -0.0032411418907421475, 0]
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# 相机同理想情况的偏角: yaw0.02 pitch1.94 roll1.40 degree
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# 标定板到世界坐标系原点的水平距离: 4.12 m
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# 标定板同竖直摆放时的偏角: yaw-87.29 pitch7.65 roll-0.51 degree
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R_camera2gimbal: [0.00046423063676173171, 0.033770528223625203, 0.99942950522456209, -0.99970300483287733, 0.024367462669785803, -0.00035901413901253575, -0.02436568525675643, -0.99913251282626891, 0.03377181066266309]
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t_camera2gimbal: [-0.034955523715399906, -0.000074403211899371, 0.001248173910106823]
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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: 0.600 # s
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predict_time: 0.090 # s |