mzxwww
19ac43da6f
- pose_test: verify the geometry chain (4 corners -> distance/yaw/pitch)
before any detector exists; modes: camera + mouse clicks, --image,
--corners (headless), --selftest (synthetic round-trip, no camera needed)
- solvePose: undistort corners first, then solvePnPGeneric(IPPE) and pick
the best candidate; reject solutions behind the camera (z<=0) or with
reprojection error > 8px
- fixes IPPE + distortion + in-plane rotation returning garbage
- 4 coplanar points: cyclic/mirrored orderings give the same quad and
the same pose (harmless); crossing orderings blow up reprojection
and are rejected
- camera_set: implement setAeState/setExposureTime/setAnalogGain(+-Times)/
setWbMode/setFrameSpeed; configs/camera_runtime.yaml drives them
- selftest passes all 6 synthetic cases; verified on 6 real photos
(chessboard outer rect 180x120mm): distance 0.44-0.69m, reproj <2.5px
20 lines
1.1 KiB
YAML
20 lines
1.1 KiB
YAML
%YAML:1.0
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---
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# ============================================================
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# 相机运行时参数（27RM）
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# 与 configs/camera.yaml（标定）分开存放：
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# camera.yaml 由 ./calibrate 生成，会被整体重写
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# camera_runtime.yaml 手工维护，calibrate 不会碰它
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#
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# ⚠️ 比赛/联调必须【手动曝光】：
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# 自动曝光/自动白平衡会让画面亮度随环境漂移，
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# 传统 CV 检测的 HSV 阈值会直接失效。
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# ============================================================
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ae_state: 0 # 曝光模式：0=手动（推荐） 1=自动
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exposure_time_us: 3000.0 # 曝光时间（微秒）。MV-SUA131GC 常用 1000~15000，
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# 数值越大画面越亮但运动拖影越重
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analog_gain: 2.0 # 模拟增益（倍率）。1.0 = 不放大；SDK 内部按
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# fAnalogGainStep 换算（例：0.125 步进 → 2.0x = 原始值16）
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auto_wb: 0 # 白平衡：0=手动（推荐，颜色阈值才稳定） 1=自动
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frame_speed: 2 # 帧率档位：0=低速 1=正常 2=高速
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