From 5752e765767aac94036fd8111c1c656ad6c77a72 Mon Sep 17 00:00:00 2001
From: dev01 <dev01@example.com>
Date: Thu, 4 Jun 2026 20:03:35 +0800
Subject: [PATCH] feat: update laser calibration parameters

- Update laser direction and origin from recalibration
- Set DETECT_INTERVAL=1 for per-frame detection in both calibrate scripts
---
 scripts/calibrate/calibrate.py                       |  2 +-
 scripts/calibrate/laser_calibrate.py                 |  2 +-
 .../src/algorithm_pkg/algorithm_pkg/vision_node.py   | 12 ++++++++++--
 3 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/scripts/calibrate/calibrate.py b/scripts/calibrate/calibrate.py
index cb15917..4bfd796 100644
--- a/scripts/calibrate/calibrate.py
+++ b/scripts/calibrate/calibrate.py
@@ -16,7 +16,7 @@ import json
 SQUARE_SIZE = 15.0       # 方格边长 (mm)
 CHESSBOARD_COLS = 11      # 内角点列数
 CHESSBOARD_ROWS = 8      # 内角点行数
-DETECT_INTERVAL = 3      # 每隔多少帧检测一次棋盘格（减少CPU负载）
+DETECT_INTERVAL = 1      # 每帧都检测棋盘格
 # =======================
 
 currentsystem = platform.system()
diff --git a/scripts/calibrate/laser_calibrate.py b/scripts/calibrate/laser_calibrate.py
index caca8a5..22f50cb 100644
--- a/scripts/calibrate/laser_calibrate.py
+++ b/scripts/calibrate/laser_calibrate.py
@@ -23,7 +23,7 @@ import json
 SQUARE_SIZE = 15.0       # 方格边长 (mm)
 CHESSBOARD_COLS = 11     # 内角点列数
 CHESSBOARD_ROWS = 8      # 内角点行数
-DETECT_INTERVAL = 3      # 棋盘格检测帧间隔
+DETECT_INTERVAL = 1      # 每帧都检测棋盘格
 # ================================================
 
 # ===== 激光点检测参数（蓝紫色激光，HSV 色彩空间） =====
diff --git a/workspace/src/algorithm_pkg/algorithm_pkg/vision_node.py b/workspace/src/algorithm_pkg/algorithm_pkg/vision_node.py
index f724d5b..b67d062 100755
--- a/workspace/src/algorithm_pkg/algorithm_pkg/vision_node.py
+++ b/workspace/src/algorithm_pkg/algorithm_pkg/vision_node.py
@@ -27,8 +27,16 @@ CALIB_JSON = """
 # Laser line parameters (paste from laser_calibrate.py JSON output)
 LASER_JSON = """
 {
-  "direction": [-0.00989344622939825, 0.015559548512101173, 0.9998300075531006],
-  "origin": [-26.1895751953125, -3.379796028137207, 0.0]
+  "direction": [
+    -0.008737712167203426,
+    0.028661146759986877,
+    0.999550998210907
+  ],
+  "origin": [
+    -24.54082679748535,
+    -9.881448745727539,
+    0.0
+  ]
 }
 """