 mzxwww
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f3b06d6abe
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Add light bar detector and detect_test
- traditional CV pipeline referencing jlu_vision_26:
HSV mask -> contour LightBar -> PCA corner refine -> pairing gates
- big/small armor classification (bar distance / bar length ratio)
- detect_test with synthetic selftest, 6/6 passed
- measured armor size 131.56x55mm, solver NaN guard + ITERATIVE fallback
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2026-09-17 00:34:24 +08:00 |
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mzxwww
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ca6891eef2
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Add camera calibration toolchain and armor pose solver
- capture_calib: capture calibration images (MindVision / USB) with a live
quality gate (Laplacian sharpness, 3x3 coverage, board auto-detect)
- calibrate: batch intrinsics from calib_images/, writes configs/camera.yaml
- camera_calib: CameraCalib loader (intrinsics + distortion, cached
undistort remap) and solvePose() via IPPE with a reprojection gate
- configs/camera.yaml: MV-SUA131GC intrinsics, RMS 0.483 px over 31 images,
ruler-verified distance error < 2%
- xmake: three targets sharing an rm_deps rule, C++17
- gitignore: keep calibration photos/videos and generated
compile_commands.json out of the repo
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2026-09-15 23:33:01 +08:00 |
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