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config.yaml
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config.yaml
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%YAML:1.0
---
#####################################
# configs for serial #
#####################################
serial:
serial_id: "/dev/ttyACM0"
camera:
camera_param_path: "/home/wpj/RM_Vision_code_US/auto_aim_HDUS/HKCamera/XML/CameraParam.xml"
#####################################
# configs for detector #
#####################################
detector:
min_lightness: 120
light_params:
min_ratio: 0.12
max_ratio: 0.55
max_angle: 40.0
armor_params:
min_light_ratio: 0.6
min_small_center_distance: 0.8
max_small_center_distance: 3
min_large_center_distance: 3.2
max_large_center_distance: 4.6
max_angle: 40.0
max_angle_diff: 20
classifier_params:
model_path: "../ArmorDetector/model/mlp.onnx"
label_path: "../ArmorDetector/model/label.txt"
threshold: 0.7
ignore_classes:
- negative
# - outpost
# - base
# - guard
# - "1"
# - "2"
# - "3"
# - "4"
# - "5"
#####################################
# configs for compensator module #
#####################################
compensator:
cam2WorldBiasX: 0.0
cam2WorldBiasY: 0.0
cam2WorldBiasZ: 0.0
cam2GunBiasX: 0.0
cam2GunBiasY: 0.0
cam2GunBiasZ: 0.0
bias_pitch: 0.0
bias_yaw: 0.0
gravity: 9.8
friction_coeff: 0.02
bullet_speed_bias: 0
channel_delay: 0.35 # s
#####################################
# configs for processor module #
#####################################
processor:
max_match_distance: 0.5 # meter
max_match_yaw_diff: 0.5 # rads
tracking_threshold: 10 # frames
lost_threshold: 25 # seconds
# 过程噪声
s2_q_xyz: 0.05
s2_q_yaw: 5
s2_q_r: 80
# 测量噪声
r_xyz_factor: 4e-4
r_yaw: 5e-3