add wust typr mpc and mutipule x

2026-03-27 03:41:42 +08:00
parent 2c64655fae
commit 7dcb53bb77
192 changed files with 29571 additions and 9 deletions
--- a/wust_vision-main/config/omni/camera0.yaml
+++ b/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
--- a/wust_vision-main/config/omni/camera1.yaml
+++ b/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
--- a/wust_vision-main/config/omni/camera_info.yaml
+++ b/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.     ]
+
--- a/wust_vision-main/config/omni/detect_ml.yaml
+++ b/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
--- a/wust_vision-main/config/omni/detect_opencv.yaml
+++ b/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: ${VISION_ROOT}/model/reborn_number_classifier.onnx
+    threshold: 0.5
--- a/wust_vision-main/config/omni/omni.yaml
+++ b/wust_vision-main/config/omni/omni.yaml
@@ -0,0 +1,37 @@
+armor_detect_backend: openvino
+
+cameras: ["${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