rmcs_auto_aim

Parameters

• exposure_time

Exposure time of the camera. The longer the exposure time, the brighter the image. Moreover, too brighter or too dark images will cause the model to fail.

• armor_predict_duration

The duration of the armor prediction. The longer the duration, the more delayed the marking of the armor target lost.

• buff_predict_duration

The duration of the buff prediction. The longer the duration, the more delayed the marking of the buff target lost.

• gimbal_predict_duration

The longer the duration, the more delayed the transmission of the zero vector.

• yaw_error

The error of the yaw angle to trajectory solution result.

• pitch_error

The error of the pitch angle to trajectory solution result.

• armor_model_path

The path of the armor model.

• buff_model_path

The path of the buff model.

• fx, fy, cx, cy

The intrinsic parameters of the camera.

• k1, k2, k3

The distortion parameters of the camera.

• omni_exposure

The exposure time of the omni-direction perception camera.

• omni_fx, omni_fy, omni_cx, omni_cy

The intrinsic parameters of the omni-direction perception camera.

• omni_k1, omni_k2, omni_k3

The distortion parameters of the omni-direction perception camera.

• record_fps

The fps of the recorded video.

• debug

Whether to debug.

• debug_color

The color of our own robot in the debug mode. 0 for blue, 1 for red.

• debug_robot_id

The robot id of our own robot in debug mode.

• ID:

  • 0: Unknown
  • 1: Hero
  • 2: Engineer
  • 3: Infantry III
  • 4: Infantry IV
  • 5: Infantry V
  • 6: Aerial
  • 7: Sentry
  • 8: Dart
  • 9: Radar
  • 10: Outpost
  • 11: Base

• debug_buff_mode

Whether to debug the buff mode.

• record

Whether to record the video.

• raw_img_pub

Whether to publish the raw image.