参考上海交大

2025-12-05 11:24:23 +08:00
parent 3f60b1f564
commit b4c795f77d
44 changed files with 125 additions and 2295 deletions
--- a/inc/config.h
+++ b/inc/config.h
@@ -36,6 +36,9 @@ const float ARMOR_ANGLE_DIFF_THRESHOLD = 15.0f * CV_PI / 180.0f; // Armor light
 const float KF_PROCESS_NOISE = 0.02f;       // Process noise covariance
 const float KF_MEASUREMENT_NOISE = 0.5f;    // Measurement noise covariance

+// Focal length in pixels (from camera calibration)
+const double FOCAL_PIXAL = 600.0;  // This should match your actual camera calibration
+
 // TTL communication settings
 const int TTL_BAUDRATE = 115200;