From bc192e1a88f47c080b6dbd84d3e1d80a624d4f27 Mon Sep 17 00:00:00 2001 From: cyy_mac Date: Thu, 26 Mar 2026 07:20:51 +0800 Subject: [PATCH] add auto binarythres fix logic strong 111 --- .../src/armor_yolo_detector_node.cpp | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp b/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp index 85e07a5..6264b1b 100644 --- a/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp +++ b/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp @@ -644,8 +644,12 @@ void ArmorYoloDetectorNode::performBinaryThresCalibration( saveBinaryThresToYaml(calib_best_thres_); } - FYT_INFO("armor_yolo_detect", "=== Binary threshold calibration complete: {} ===", calib_best_thres_); - FYT_INFO("armor_yolo_detect", "Calibration result saved. Set calib_binarythres=false to disable calibration mode."); + FYT_INFO("armor_yolo_detect", "========================================"); + FYT_INFO("armor_yolo_detect", "Binary threshold calibration FINISHED!"); + 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; } @@ -733,8 +737,12 @@ void ArmorYoloDetectorNode::performBinaryThresCalibration( saveBinaryThresToYaml(calib_best_thres_); } - FYT_INFO("armor_yolo_detect", "=== Binary threshold calibration complete: {} ===", calib_best_thres_); - FYT_INFO("armor_yolo_detect", "Calibration result saved. Set calib_binarythres=false to disable calibration mode."); + FYT_INFO("armor_yolo_detect", "========================================"); + FYT_INFO("armor_yolo_detect", "Binary threshold calibration FINISHED!"); + 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; } }