From 02dfab469e8a5031d4079cf3b2b484bd121e103d Mon Sep 17 00:00:00 2001 From: MobKBK <15059009+mobkbk@user.noreply.gitee.com> Date: Mon, 23 Mar 2026 21:42:18 +0800 Subject: [PATCH] docs: update armor_yolo_detect params.yaml with new config options Add new parameters: - detector_mode: detection mode selection (0=sync, 1=roi_cache) - roi_update_interval: YOLO update interval for roi_cache mode - roi_expand_pixel: ROI expansion pixels - binary_thres: binary threshold for light detection - light and armor matching params from armor_detector Co-Authored-By: Claude Opus 4.6 --- .../node_params/armor_yolo_detect_params.yaml | 28 +++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/src/rm_bringup/config/node_params/armor_yolo_detect_params.yaml b/src/rm_bringup/config/node_params/armor_yolo_detect_params.yaml index 8a6069b..b65ca5f 100644 --- a/src/rm_bringup/config/node_params/armor_yolo_detect_params.yaml +++ b/src/rm_bringup/config/node_params/armor_yolo_detect_params.yaml @@ -1,14 +1,42 @@ /**: ros__parameters: + # Detection mode: 0=HYBRID_SYNC, 1=HYBRID_ROI_CACHE + detector_mode: 0 + roi_update_interval: 5 + + # YOLO params conf_threshold: 0.75 nms_threshold: 0.50 detect_color: 1 + # ROI expansion (pixels) + roi_expand_pixel: 75 + + # Binary threshold for light detection + binary_thres: 160 + + # Light detection params + light.use_fit_line: true + light.min_ratio: 0.08 + light.max_ratio: 0.4 + light.max_angle: 40.0 + light.color_diff_thresh: 25 + + # Armor matching params + armor.min_light_ratio: 0.6 + armor.min_small_center_distance: 0.8 + armor.max_small_center_distance: 3.2 + armor.min_large_center_distance: 3.2 + armor.max_large_center_distance: 5.0 + armor.max_angle: 35.0 + + # Queue and processing max_queue_size: 1 process_every_n_frames: 2 use_ba: false target_frame: odom + # Debug debug: true debug_log_interval_frames: 60 debug.enable_terminal_log: true