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add auto binarythres fix logic strong 111

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cyy_mac
2026-03-26 07:20:51 +08:00
parent b56999f3f3
commit bc192e1a88
1 changed files with 12 additions and 4 deletions
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16
src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp
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@@ -644,8 +644,12 @@ void ArmorYoloDetectorNode::performBinaryThresCalibration(
saveBinaryThresToYaml(calib_best_thres_); saveBinaryThresToYaml(calib_best_thres_);
} }
FYT_INFO("armor_yolo_detect", "=== Binary threshold calibration complete: {} ===", calib_best_thres_); FYT_INFO("armor_yolo_detect", "========================================");
FYT_INFO("armor_yolo_detect", "Calibration result saved. Set calib_binarythres=false to disable calibration mode."); 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; return;
} }
@@ -733,8 +737,12 @@ void ArmorYoloDetectorNode::performBinaryThresCalibration(
saveBinaryThresToYaml(calib_best_thres_); saveBinaryThresToYaml(calib_best_thres_);
} }
FYT_INFO("armor_yolo_detect", "=== Binary threshold calibration complete: {} ===", calib_best_thres_); FYT_INFO("armor_yolo_detect", "========================================");
FYT_INFO("armor_yolo_detect", "Calibration result saved. Set calib_binarythres=false to disable calibration mode."); 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; return;
} }
} }