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add auto binarythres fix logic strong 1112

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cyy_mac
2026-03-26 07:28:47 +08:00
parent bc192e1a88
commit a0127988b3
2 changed files with 38 additions and 1 deletions
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2
src/rm_auto_aim/armor_yolo_detect/include/armor_yolo_detect/armor_yolo_detector_node.hpp
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@@ -151,6 +151,8 @@ private:
double calib_best_error_ = std::numeric_limits<double>::max();
int calib_frame_skip_ = 0; // Frame counter to slow down decrement
int calib_frame_skip_interval_ = 10; // Decrement every 10 frames
int calib_no_detection_count_ = 0; // Consecutive frames with no detection
int calib_max_no_detection_ = 5; // Exit after this many consecutive no-detection frames
std::string calib_save_yaml_path_;
void performBinaryThresCalibration(const sensor_msgs::msg::Image::ConstSharedPtr& img_msg);
void saveBinaryThresToYaml(int binary_thres);

37
src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp
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@@ -359,6 +359,8 @@ std::unique_ptr<Detector> ArmorYoloDetectorNode::initDetector() {
calib_best_error_ = std::numeric_limits<double>::max();
calib_frame_skip_ = 0;
calib_frame_skip_interval_ = 10;
calib_no_detection_count_ = 0;
calib_max_no_detection_ = 5;
calib_save_yaml_path_ = this->declare_parameter("calib_save_yaml_path", std::string(""));
// Light detection params
@@ -532,6 +534,7 @@ rcl_interfaces::msg::SetParametersResult ArmorYoloDetectorNode::onSetParameters(
calib_current_thres_ = 250;
calib_best_thres_ = 160;
calib_best_error_ = std::numeric_limits<double>::max();
calib_no_detection_count_ = 0;
FYT_INFO("armor_yolo_detect", "Binary threshold calibration started (searching from 250)");
}
} else if (param.get_name() == "debug.enable_terminal_log") {
@@ -693,8 +696,40 @@ void ArmorYoloDetectorNode::performBinaryThresCalibration(
if (armors.empty()) {
// No detection at this threshold
FYT_INFO("armor_yolo_detect", "Calibration: thres={}, no detection", calib_current_thres_);
calib_no_detection_count_++;
FYT_INFO("armor_yolo_detect", "Calibration: thres={}, no detection ({}/{})",
calib_current_thres_, calib_no_detection_count_, calib_max_no_detection_);
// If too many consecutive no-detection, finish with best threshold
if (calib_no_detection_count_ >= calib_max_no_detection_) {
calib_done_ = true;
detector_->binary_thres = calib_best_thres_;
FYT_INFO("armor_yolo_detect", "Calibration: too many no-detections, using best thres={}", calib_best_thres_);
auto result1 = this->set_parameter(rclcpp::Parameter("binary_thres", calib_best_thres_));
FYT_INFO("armor_yolo_detect", "Set binary_thres={}, success={}", calib_best_thres_, result1.successful);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
auto result2 = this->set_parameter(rclcpp::Parameter("calib_binarythres", false));
FYT_INFO("armor_yolo_detect", "Set calib_binarythres=false, success={}", result2.successful);
if (!calib_save_yaml_path_.empty()) {
saveBinaryThresToYaml(calib_best_thres_);
}
FYT_INFO("armor_yolo_detect", "========================================");
FYT_INFO("armor_yolo_detect", "Binary threshold calibration FINISHED (no detection timeout)!");
FYT_INFO("armor_yolo_detect", "Selected binary_thres = {} (best_error = {:.1f})", calib_best_thres_, calib_best_error_);
FYT_INFO("armor_yolo_detect", "binary_thres has been updated to {}", calib_best_thres_);
FYT_INFO("armor_yolo_detect", "Result saved to yaml file.");
FYT_INFO("armor_yolo_detect", "========================================");
return;
}
} else {
// Detection succeeded, reset no-detection counter
calib_no_detection_count_ = 0;
// Detection succeeded! Calculate error
double trad_avg_area = 0;
for (const auto& armor : armors) {