add wust typr mpc and mutipule x

wust_vision-main/config/auto_aim.yaml

@@ -0,0 +1,131 @@
+armor_detect_backend: tensorrt
+max_detect_armors: 11
+
+
+armor_map:
+  SENTRY: 4
+  NO1: 2
+  NO2: 3
+  NO3: 1
+  NO4: 5
+  NO5: 9
+  OUTPOST: 6
+  BASE: 7
+  UNKNOWN: -1
+
+armor_where:
+  yaw_opt:
+    mode: golden
+    golden_search_side_deg: 60
+  distance_fix_a2: 0.0
+
+armor_tracker:
+  lost_time_thres: 2.0
+  tracking_thres: 10
+  max_yaw_diff_deg: 60.0
+  max_dis_diff: 3.0
+  match_gate: 50
+  qxyz_common: [200.0, 200.0, 1.0]
+  qyaw_common: 100.0
+  qxyz_output: [10.0, 10.0, 0.5]
+  qyaw_output: 0.01
+  q_r: 0.0000001
+  q_l: 0.0000001
+  q_h: 0.0000001
+  q_outpost_dz: 0.5
+  yp_r: 2e-3
+  dis_r_front: 0.5
+  dis_r_side: 2.5
+  dis2_r_ratio: 0.1
+  yaw_r_base_front: 0.2
+  yaw_r_base_side: 0.06
+  yaw_r_log_ratio: 0.02
+  esekf_iter_num: 5
+
+
+
+auto_aim_fsm:
+  single_whole_up: 1.5 
+  single_whole_down: 1.0
+  whole_pair_up: 7.5 
+  whole_pair_down: 6.5 #1s内至少换2次板子  2pi  否则轨迹规划无意义
+  pair_center_up: 16.5
+  pair_center_down: 15.0
+  transfer_thresh: 50
+
+very_aimer:
+  fuck_test: false
+  fuck_test_thresh: 0.5
+  type: "seg" #seg or mpc
+  
+  sample_total_time: 2.0
+  
+  sample_horizon: 500
+
+  control_delay: 0.2
+  delay_enable_fire_error: 0.0035
+  
+  max_yaw_acc: 40
+  #全向yaw加速度测算37
+  max_pitch_acc: 25
+  
+
+  prediction_delay: 0.00
+  comming_angle: 60
+  leaving_angle: 20
+
+  yaw_limit_deg: 60
+  shooting_range_h: 0.12
+  shooting_range_small_w: 0.12
+  shooting_range_big_w: 0.24
+  min_enable_pitch_deg: 0.25
+  min_enable_yaw_deg: 0.25
+  base_offset:
+      yaw: -1.0
+      pitch: -3.5
+  trajectory_offset:
+    - d_max: 3
+      d_min: 0
+      h_max: 1.5
+      h_min: -1
+      pitch_off: 0
+      yaw_off: 0
+    - d_max: 4.5
+      d_min: 3
+      h_max: 1.5
+      h_min: -1
+      pitch_off: 0
+      yaw_off: 0
+    - d_max: 4.5
+      d_min: 9
+      h_max: 1.5
+      h_min: -1
+      pitch_off: 0
+      yaw_off: 0
+  #---mpc only
+  max_iter: 10
+  Q_yaw: [7e6, 0]
+  R_yaw: [3.0]
+  Q_pitch: [7e6, 0]
+  R_pitch: [3.0]
+
+
+  
+trajectory_compensator:
+  compenstator_type: resistance
+  gravity: 9.8
+  iteration_times: 20
+  resistance: 0.092
+  k1: 0.0190 #大弹丸double k1_c = 0.47; double k1 = k1_c * 1.169 * (2 * M_PI * 0.02125 * 0.02125) / 2 / 0.041;
+
+
+
+auto_exposure:
+  enable: true
+  target_brightness: 25.0
+  tolerance: 3.0
+  step_gain: 15.0
+  decay_step: 1.0
+  exposure_min: 100.0
+  exposure_max: 1500.0
+  control_interval_ms: 300

wust_vision-main/config/auto_buff.yaml

@@ -0,0 +1,76 @@
+rune_detector:
+  rune_center_min_area: 10
+  rune_center_max_area: 2000
+  rune_center_1x1ratio_tol: 0.7
+  rune_center_fill_ratio_min: 0.3
+
+  rune_target_min_area: 100
+  rune_target_max_area: 3000
+  rune_target_max_square_ratio: 1.3
+  rune_target_cluster_radius: 70
+
+  bin_threshold: 50
+  color_diff_threshold: 40
+
+
+rune_where:
+  roll_opt:
+    mode: golden
+    golden_search_side_deg: 60
+
+rune_tracker:
+  lost_time_thres: 2.0
+  tracking_thres: 5
+  max_dis_diff: 1.0
+  match_gate: 15.0
+  esekf_iter_num: 2
+  q_roll: 10.0
+  q_xyz: 0.5
+  q_yaw: 0.5
+  yp_r: 0.01
+  dis_r: 0.05
+  yaw_r: 0.1
+  roll_r: 0.2
+  big_window_sec: 2.0
+
+aimer:
+  prediction_delay: -0.00
+  shooting_range_h: 0.1
+  shooting_range_w: 0.1
+  min_enable_pitch_deg: 0.25
+  min_enable_yaw_deg: 0.25
+  base_offset:
+      yaw: -3.0
+      pitch: -0.0
+  trajectory_offset:
+    - d_max: 9
+      d_min: 0
+      h_max: 1.5
+      h_min: -1
+      pitch_off: -0
+      yaw_off: -0
+    - d_max: 10
+      d_min: 9
+      h_max: 0.4
+      h_min: -1
+      pitch_off: -0
+      yaw_off: 0
+
+trajectory_compensator:
+  compenstator_type: resistance
+  gravity: 9.8
+  iteration_times: 20
+  resistance: 0.092
+  k1: 0.0190 #大弹丸double k1_c = 0.47; double k1 = k1_c * 1.169 * (2 * M_PI * 0.02125 * 0.02125) / 2 / 0.041;
+
+
+
+auto_exposure:
+  enable: false
+  target_brightness: 15.0
+  tolerance: 3.0
+  step_gain: 15.0
+  decay_step: 1.0
+  exposure_min: 100.0
+  exposure_max: 2500.0
+  control_interval_ms: 300

wust_vision-main/config/auto_guidance.yaml

@@ -0,0 +1,83 @@
+backend: opencv
+
+max_infer_running: 6
+
+detector:
+  openvino: 
+    model_path: /home/hy/2026_dart_guide/assets/Katrin.xml
+    top_k: 128
+    conf_threshold: 0.2
+    nms_threshold: 0.5
+    device_type: CPU
+    use_throughputmode: false
+  opencv:
+    gui: true
+    HSV:
+      lowH: 25
+      highH: 85
+      lowS: 50
+      highS: 255
+      lowV: 150
+      highV: 255
+    contours:
+      min_area: 100
+      max_area: 50000
+      min_aspect_ratio: 0.5
+      min_fill_ratio: 0.7
+
+tracker:
+  lost_time_thres: 2.0
+  tracking_thres: 10
+  target:
+    xy_r: 0.05
+    wh_r: 0.05
+    q_xy: 100
+    q_wh: 100
+    iter_num: 2
+    max_dis_diff: 2.0
+
+
+logger:
+  log_level: INFO
+  log_path: /home/hy/wust_log
+  use_logcli: true
+  use_logfile: true
+  use_simplelog: true
+
+control:
+  control_rate: 100
+  communication_delay_us: 1100
+  pitch_avg_windows: 1
+  device_name: /dev/ttyACM_RMc
+  use_serial: true
+
+
+
+camera:
+  type: hik_camera
+  camera_info_path: ${VISION_ROOT}/config/camera_info.yaml
+
+  hik_camera:
+    target_sn: DA1094119 #DA3038891
+    acquisition_frame_rate: 80
+    adc_bit_depth: Bits_12
+    exposure_time: 5000
+    gain: 16.9
+    gamma: 0.5 #Bayer用不了
+    pixel_format: BayerRG8
+    use_raw: false
+    acquisition_frame_rate_enable: false
+    reverse_x: false
+    reverse_y: false
+    
+  video_player:
+    fps: 12
+    loop: true
+    use_cvt: true
+    #path: /home/hy/wust_data/video/aaa.mp4
+    #path: /home/hy/wust_data/video/jiao.avi
+    #path: /home/hy/Z_LION_AutoAim2025/src/auto_aim_publisher/videos/sample.avi
+    #path: /home/hy/wust_data/record/20251111_134416_187.avi
+    path: /home/hy/下载/sp_vision_25/records/1.avi
+    #path: /home/hy/wust_data/video/Sentry.mp4
+    start_frame: 0

wust_vision-main/config/auto_sniper.yaml

@@ -0,0 +1,27 @@
+map:
+  voxel_size: 0.1
+  min_pos: [-5.0,-10.0,-1.0]
+  max_pos: [20.0,10.0,1.0]
+
+  
+solver:
+  k1: 0.0190
+  g: 9.81
+  target_armor_z: 0.5
+
+offset_helper:
+  order: 5
+  yaw_base_offset: 0.0
+  pitch_base_offset: 0.0
+  offset_table:
+  - distance: 2.0
+    yaw: 0.1
+    pitch: -0.2
+
+  - distance: 3.0
+    yaw: 0.15
+    pitch: -0.25
+
+  - distance: 4.0
+    yaw: 0.2
+    pitch: -0.3

wust_vision-main/config/camera.yaml

@@ -0,0 +1,50 @@
+type: hik_camera
+
+camera_info_path: ${VISION_ROOT}/config/camera_info.yaml
+
+hik_camera:
+  target_sn: DA3038934
+  adc_bit_depth: Bits_8
+  pixel_format: BayerRG8 #RGB8Packed
+  reverse_x: false
+  reverse_y: false
+  width: 1440
+  height: 1080
+  offset_x: 0
+  offset_y: 0
+  acquisition_frame_rate_enable: true
+  acquisition_frame_rate: 250
+  exposure_time: 2000
+  gain: 16.9
+  gamma: 0.7 #Bayer用不了
+  trigger_type: none
+  trigger_source: ""
+  trigger_activation: 0
+  use_raw: false
+  use_rgb: false
+  use_ea: false
+  use_cuda_cvt: true
+
+  
+video_player:
+  fps: 60
+  loop: true
+  use_cvt: true
+  trigger_mode: false
+  #path: /home/hy/wust_data/video/aaa.mp4
+  #path: /home/hy/wust_data/video/jiao.avi
+  #path: /home/hy/Z_LION_AutoAim2025/src/auto_aim_publisher/videos/sample.avi
+  #path: /home/hy/wust_data/record/20251111_134416_187.avi
+  path: /home/hy/data/video_save/5.21成都.mp4
+  #path: /home/hy/wust_data/video/Sentry.mp4
+  start_frame: 0
+
+uvc:
+  device_name: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4:1.0-video-index0"
+  fps: 60
+  width: 1280
+  height: 720
+  exposure: 100.0
+  gain: 10.0
+  gamma: 100
+  trigger_mode: false

wust_vision-main/config/camera_info.yaml

@@ -0,0 +1,82 @@
+#8mm
+# image_width: 1440
+# image_height: 1080
+# camera_name: narrow_stereo
+# camera_matrix:
+#   rows: 3
+#   cols: 3
+#   data: [2419.64498,    0.     ,  719.05623,
+#             0.     , 2414.38209,  538.71651,
+#             0.     ,    0.     ,    1.     ]
+# distortion_model: plumb_bob
+# distortion_coefficients:
+#   rows: 1
+#   cols: 5
+#   data: [-0.033521, 0.087954, -0.002045, -0.001438, 0.000000]
+# rectification_matrix:
+#   rows: 3
+#   cols: 3
+#   data: [1., 0., 0.,
+#          0., 1., 0.,
+#          0., 0., 1.]
+# projection_matrix:
+#   rows: 3
+#   cols: 4
+#   data: [2413.22632,    0.     ,  717.5196 ,    0.     ,
+#             0.     , 2408.83228,  537.43444,    0.     ,
+#             0.     ,    0.     ,    1.     ,    0.     ]
+#6mm
+
+image_width: 1440
+image_height: 1080
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [1814.19888,    0.     ,  730.27359,
+            0.     , 1807.37177,  529.57031,
+            0.     ,    0.     ,    1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.089138, 0.114766, 0.000034, 0.000238, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [1793.54229,    0.     ,  730.67194,    0.     ,
+            0.     , 1794.48784,  529.46193,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
+#12mm
+# image_width: 1440
+# image_height: 1080
+# camera_name: narrow_stereo
+# camera_matrix:
+#   rows: 3
+#   cols: 3
+#   data: [3655.11292,    0.     ,  748.66803,
+#             0.     , 3648.34439,  556.97683,
+#             0.     ,    0.     ,    1.     ]
+# distortion_model: plumb_bob
+# distortion_coefficients:
+#   rows: 1
+#   cols: 5
+#   data: [-0.058763, 1.430269, 0.001191, 0.001641, 0.000000]
+# rectification_matrix:
+#   rows: 3
+#   cols: 3
+#   data: [1., 0., 0.,
+#          0., 1., 0.,
+#          0., 0., 1.]
+# projection_matrix:
+#   rows: 3
+#   cols: 4
+#   data: [3659.22949,    0.     ,  748.71496,    0.     ,
+#             0.     , 3652.02661,  556.81908,    0.     ,
+#             0.     ,    0.     ,    1.     ,    0.     ]

wust_vision-main/config/common.yaml

@@ -0,0 +1,34 @@
+max_infer_running: 6
+detect_color: 0
+attack_mode: 0
+debug_fps: 60
+tf:
+  R_camera2gimbal: [0.0, 0.0, 1.0, -1.0, -0.0, 0.0, 0.0, -1.0, 0.0]
+  t_camera2gimbal:
+    [0.000434347168653831, 0.0141232476052895, 0.00736106400231024]
+control:
+  control_rate: 1000
+  communication_delay_us: 100.000
+  device_name: /dev/stm32_acm
+  use_serial: true
+  yaw_ramp: 0.0  #send_cmd = cmd.pos+cmd.vel*ramp
+  pitch_ramp: 0.0
+  
+logger:
+  log_level: DEBUG
+  log_path: log
+  use_logcli: true
+  use_logfile: false
+  use_simplelog: true
+
+shoot:
+  bullet_speed: 26.0
+  rate: 3
+
+record:
+  use_record: false
+  folder_path: record
+  use_rotate_reader: false
+  read_csv_path: ""
+
+

wust_vision-main/config/detect_ml.yaml

@@ -0,0 +1,66 @@
+armor_detector:
+  cv: #装甲板灯条完整无损坏才可以用
+    enable: true
+    armor:
+      max_angle: 40
+      max_large_center_distance: 8
+      max_small_center_distance: 3.5
+      min_large_center_distance: 3.5
+      min_light_ratio: 0.5
+      min_small_center_distance: 0.05
+    light:
+      binary_thres: 150
+      expand_ratio_h: 1.9
+      expand_ratio_w: 1.2
+      max_angle: 45
+      max_ratio: 0.4
+      min_ratio: 0.01
+      max_pts_error: 20.0
+      max_angle_diff: 20.0
+      color_diff_thresh: 40
+  classify:
+    enable: true
+    label_path: ${VISION_ROOT}/model/label.txt
+    model_path: ${VISION_ROOT}/model/mlp.onnx
+    backend: opencv
+    threshold: 0.5
+  
+  tensorrt:
+    conf_threshold: 0.2
+    model_path: ${VISION_ROOT}/model/opt-1208-001.onnx
+    device_id: 0
+    nms_threshold: 0.3
+    top_k: 128
+    max_infer_running: 3
+    min_free_mem_ratio: 0.1
+    use_cuda_pre: true
+    log_time: false
+    model_type: tup
+  openvino:
+    conf_threshold: 0.2
+    device_name: GPU
+    model_path: ${VISION_ROOT}/model/opt-1208-001.onnx
+    nms_threshold: 0.3
+    top_k: 128
+    use_throughputmode: true
+    model_type: tup
+  onnxruntime:
+    conf_threshold: 0.2
+    model_path: ${VISION_ROOT}/model/opt-1208-001.onnx
+    nms_threshold: 0.3
+    top_k: 128
+    model_type: tup
+    provider: CUDA
+  ncnn:
+    conf_threshold: 0.2
+    model_path_param: ${VISION_ROOT}/model/opt-1208-001.param
+    model_path_bin: ${VISION_ROOT}/model/opt-1208-001.bin
+    input_name: images
+    output_name: output
+    use_gpu: true
+    use_lightmode: false
+    device_id: 0
+    cpu_threads: 20
+    nms_threshold: 0.3
+    top_k: 128
+    model_type: tup

wust_vision-main/config/detect_opencv.yaml

@@ -0,0 +1,19 @@
+armor_detector:
+  light:
+    binary_thres: 120
+    max_angle: 40
+    max_ratio: 0.4
+    min_ratio: 0.001
+    color_diff_thresh: 20
+    max_angle_diff: 10.0
+  armor:
+    min_light_ratio: 0.8
+    min_small_center_distance: 0.8
+    max_small_center_distance: 3.5
+    min_large_center_distance: 3.5
+    max_large_center_distance: 8.0
+    max_angle: 40.0
+  classify:
+    label_path: ${VISION_ROOT}/model/label.txt
+    model_path: ${VISION_ROOT}/model/reborn_number_classifier.onnx
+    threshold: 0.5

wust_vision-main/config/guard.sh

@@ -0,0 +1,24 @@
+#!/bin/bash
+
+TARGET="$1"
+shift
+ARGS=("${@:3}")
+
+
+echo "[GUARD] target: $TARGET"
+echo "[GUARD] args: ${ARGS[*]}"
+echo "[GUARD] Starting monitor..."
+
+while true; do
+    echo "[GUARD] Launching program..."
+    "$TARGET" "${ARGS[@]}"
+    RET=$?
+
+    if [ $RET -eq 0 ]; then
+        echo "[GUARD] Program exited normally. Stopping guard."
+        exit 0
+    fi
+
+    echo "[GUARD] Crash detected, restarting in 1 second..."
+    sleep 1
+done

wust_vision-main/config/omni/camera0.yaml

@@ -0,0 +1,51 @@
+yaw_in_big_yaw_deg: 90.0
+type: uvc
+
+camera_info_path: ${VISION_ROOT}/config/camera_info.yaml
+
+hik_camera:
+  target_sn: DA1094119
+  adc_bit_depth: Bits_8
+  pixel_format: BayerRG8 #RGB8Packed
+  reverse_x: false
+  reverse_y: false
+  width: 1440
+  height: 1080
+  offset_x: 0
+  offset_y: 0
+  acquisition_frame_rate_enable: true
+  acquisition_frame_rate: 250
+  exposure_time: 2000
+  gain: 16.9
+  gamma: 0.7 #Bayer用不了
+  trigger_type: none
+  trigger_source: ""
+  trigger_activation: 0
+  use_raw: false
+  use_rgb: false
+  use_ea: false
+  use_cuda_cvt: false
+
+  
+video_player:
+  fps: 60
+  loop: true
+  use_cvt: true
+  trigger_mode: false
+  #path: /home/hy/wust_data/video/aaa.mp4
+  #path: /home/hy/wust_data/video/jiao.avi
+  #path: /home/hy/Z_LION_AutoAim2025/src/auto_aim_publisher/videos/sample.avi
+  #path: /home/hy/wust_data/record/20251111_134416_187.avi
+  path: /home/hy/rune_dl/runeA.mp4
+  #path: /home/hy/wust_data/video/Sentry.mp4
+  start_frame: 0
+
+uvc:
+  device_name: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:9.4:1.0-video-index0"
+  fps: 30
+  width: 1280
+  height: 720
+  exposure: 200
+  gain: 10.0
+  gamma: 100
+  trigger_mode: true

wust_vision-main/config/omni/camera1.yaml

@@ -0,0 +1,51 @@
+yaw_in_big_yaw_deg: 107.0
+type: uvc
+
+camera_info_path: ${VISION_ROOT}/config/omni/camera_info.yaml
+
+hik_camera:
+  target_sn: DA1094119
+  adc_bit_depth: Bits_8
+  pixel_format: BayerRG8 #RGB8Packed
+  reverse_x: false
+  reverse_y: false
+  width: 1440
+  height: 1080
+  offset_x: 0
+  offset_y: 0
+  acquisition_frame_rate_enable: true
+  acquisition_frame_rate: 250
+  exposure_time: 2000
+  gain: 16.9
+  gamma: 0.7 #Bayer用不了
+  trigger_type: none
+  trigger_source: ""
+  trigger_activation: 0
+  use_raw: false
+  use_rgb: false
+  use_ea: false
+  use_cuda_cvt: false
+
+  
+video_player:
+  fps: 60
+  loop: true
+  use_cvt: true
+  trigger_mode: false
+  #path: /home/hy/wust_data/video/aaa.mp4
+  #path: /home/hy/wust_data/video/jiao.avi
+  #path: /home/hy/Z_LION_AutoAim2025/src/auto_aim_publisher/videos/sample.avi
+  #path: /home/hy/wust_data/record/20251111_134416_187.avi
+  path: /home/hy/rune_dl/runeA.mp4
+  #path: /home/hy/wust_data/video/Sentry.mp4
+  start_frame: 0
+
+uvc:
+  device_name: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:9.1:1.0-video-index0"
+  fps: 30
+  width: 1280
+  height: 720
+  exposure: 200
+  gain: 10.0
+  gamma: 100
+  trigger_mode: true

wust_vision-main/config/omni/camera_info.yaml

@@ -0,0 +1,28 @@
+
+# camera_matrix = [759.73071, 0.0, 336.19053, 0.0, 761.16771, 231.83002, 0.0, 0.0, 1.0]
+# distortion_coefficients = [0.000281, 0.144018, 0.005509, -0.004330, 0.0]
+image_width: 1440
+image_height: 1080
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [759.73071, 0.0, 336.19053, 0.0, 761.16771, 231.83002, 0.0, 0.0, 1.0     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.000281, 0.144018, 0.005509, -0.004330, 0.0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [1793.54229,    0.     ,  730.67194,    0.     ,
+            0.     , 1794.48784,  529.46193,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
+

wust_vision-main/config/omni/detect_ml.yaml

@@ -0,0 +1,66 @@
+armor_detector:
+  cv: #装甲板灯条完整无损坏才可以用
+    enable: false
+    armor:
+      max_angle: 40
+      max_large_center_distance: 8
+      max_small_center_distance: 3.5
+      min_large_center_distance: 3.5
+      min_light_ratio: 0.5
+      min_small_center_distance: 0.05
+    light:
+      binary_thres: 150
+      expand_ratio_h: 1.9
+      expand_ratio_w: 1.2
+      max_angle: 45
+      max_ratio: 0.4
+      min_ratio: 0.01
+      max_pts_error: 20.0
+      max_angle_diff: 20.0
+      color_diff_thresh: 0
+  classify:
+    enable: true
+    label_path: ${VISION_ROOT}/model/label.txt
+    model_path: ${VISION_ROOT}/model/mlp.onnx
+    backend: opencv
+    threshold: 0.5
+  
+  tensorrt:
+    conf_threshold: 0.2
+    model_path: ${VISION_ROOT}/model/opt-1208-001.onnx
+    device_id: 0
+    nms_threshold: 0.3
+    top_k: 128
+    max_infer_running: 3
+    min_free_mem_ratio: 0.1
+    use_cuda_pre: true
+    log_time: false
+    model_type: tup
+  openvino:
+    conf_threshold: 0.2
+    device_name: GPU
+    model_path: ${VISION_ROOT}/model/opt-1208-001.onnx
+    nms_threshold: 0.3
+    top_k: 128
+    use_throughputmode: true
+    model_type: tup
+  onnxruntime:
+    conf_threshold: 0.2
+    model_path: ${VISION_ROOT}/model/opt-1208-001.onnx
+    nms_threshold: 0.3
+    top_k: 128
+    model_type: tup
+    provider: CUDA
+  ncnn:
+    conf_threshold: 0.2
+    model_path_param: ${VISION_ROOT}/model/opt-1208-001.param
+    model_path_bin: ${VISION_ROOT}/model/opt-1208-001.bin
+    input_name: images
+    output_name: output
+    use_gpu: true
+    use_lightmode: false
+    device_id: 0
+    cpu_threads: 20
+    nms_threshold: 0.3
+    top_k: 128
+    model_type: tup

wust_vision-main/config/omni/detect_opencv.yaml

@@ -0,0 +1,19 @@
+armor_detector:
+  light:
+    binary_thres: 120
+    max_angle: 40
+    max_ratio: 0.4
+    min_ratio: 0.001
+    color_diff_thresh: 20
+    max_angle_diff: 10.0
+  armor:
+    min_light_ratio: 0.8
+    min_small_center_distance: 0.8
+    max_small_center_distance: 3.5
+    min_large_center_distance: 3.5
+    max_large_center_distance: 8.0
+    max_angle: 40.0
+  classify:
+    label_path: ${VISION_ROOT}/model/label.txt
+    model_path: ${VISION_ROOT}/model/reborn_number_classifier.onnx
+    threshold: 0.5

wust_vision-main/config/omni/omni.yaml

@@ -0,0 +1,37 @@
+armor_detect_backend: openvino
+
+cameras: ["${VISION_ROOT}/config/omni/camera0.yaml", "${VISION_ROOT}/config/omni/camera1.yaml"]
+
+fps: 60
+max_infer_running: 3
+active_time: 1.0
+min_score: 15.0
+
+armor_where:
+  yaw_opt:
+    mode: golden
+    golden_search_side_deg: 60
+  distance_fix_a2: 0.0
+
+armor_tracker:
+  lost_time_thres: 1.0
+  tracking_thres: 5
+  max_yaw_diff_deg: 90.0
+  max_dis_diff: 3.0
+  match_gate: 50
+  qxyz_common: [1.0, 1.0, 1.0]
+  qyaw_common: 1.0
+  qxyz_output: [1.0, 1.0, 0.5]
+  qyaw_output: 0.01
+  q_r: 0.0000001
+  q_l: 0.0000001
+  q_h: 0.0000001
+  q_outpost_dz: 0.5
+  yp_r: 2e-3
+  dis_r_front: 0.5
+  dis_r_side: 2.5
+  dis2_r_ratio: 0.1
+  yaw_r_base_front: 0.2
+  yaw_r_base_side: 0.06
+  yaw_r_log_ratio: 0.02
+  esekf_iter_num: 1