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