应对高曝光，比赛现场

2026-03-27 20:06:48 +08:00
parent 2c64655fae
commit 71476f1cf0
5 changed files with 11512 additions and 4 deletions
--- a/.rm_bringup.pid
+++ b/.rm_bringup.pid
@@ -0,0 +1 @@
+34927
--- a/screen.output
+++ b/screen.output
--- a/src/rm_bringup/config/node_params/armor_solver_params.yaml
+++ b/src/rm_bringup/config/node_params/armor_solver_params.yaml
@@ -36,8 +36,8 @@
      lost_time_thres: 1.0
    
    solver:
-      shoot_rate_min: 3
-      shoot_rate_max: 13
+      shoot_rate_min: 6
+      shoot_rate_max: 12
      ekf_count_threshold: 30
      bullet_speed: 20.5
      shooting_range_width: 0.10   #射击范围
--- a/src/rm_bringup/config/node_params/armor_yolo_detect_params.yaml
+++ b/src/rm_bringup/config/node_params/armor_yolo_detect_params.yaml
@@ -13,7 +13,7 @@
    roi_expand_pixel: 160

    # Binary threshold for light detection
-    binary_thres: 80
+    binary_thres: 120

    # Binary threshold calibration mode
    # When enabled, automatically calibrates binary_thres to match traditional detection size with YOLO
--- a/src/rm_bringup/config/node_params/camera_driver_params.yaml
+++ b/src/rm_bringup/config/node_params/camera_driver_params.yaml
@@ -1,7 +1,7 @@
 /**:
  ros__parameters:
    camera_info_url: package://rm_bringup/config/camera_info.yaml
-    exposure_time: 1000
+    exposure_time: 800
    gain: 18.3
    resolution_width: 1440
    resolution_height: 1080