mzxwww
f3b06d6abe
- 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
38 lines
1.9 KiB
YAML
38 lines
1.9 KiB
YAML
%YAML:1.0
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---
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# ============================================================
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# 相机标定与内参配置（27RM）
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# 本文件由 ./build/.../calibrate 生成，也可手工维护
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# ⚠️ M12 镜头的【对焦环位置】会改变有效焦距：
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# 一旦调焦，必须重新标定并重新做卷尺距离验证！
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# ============================================================
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camera_name: "MV-SUA131GC" # 相机型号
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lens: "MV-LD-M12-2.8MM-C" # 镜头型号，焦距 2.8mm
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sensor: "1/3\" CMOS, 3.75um pixel" # 传感器类型
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resolution: "1280x1024" # 分辨率
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calib_date: "2026-09-15" # 标定日期
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board_spec: "10x7 inner corners, square=20.0mm" # 标定板规格
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calib_images: "31 (old_run 12 + new 19)" # 标定图像数量
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distance_verify: "ruler 700mm -> computed 687~697mm, error <2%" # 用卷尺验证 PnP 测距的精度
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notes: "refocus invalidates this calibration; must re-verify with ruler" # 备注
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camera_matrix: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [ 657.47392591548282, 0., 625.64119358041364, 0.,
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658.25468859263844, 509.00483710801581, 0., 0., 1. ]
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dist_coeffs: !!opencv-matrix
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rows: 1
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cols: 5
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dt: d
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data: [ -0.0012152502343767638, -0.058463444062878803,
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-0.0022603001279860352, 0.0018169600148664874,
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0.040233970225725772 ]
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image_width: 1280
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image_height: 1024
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square_mm: 20.
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board_cols: 10
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board_rows: 7
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rms: 0.48277734002307909
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