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feat: update laser calibration parameters

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- Update laser direction and origin from recalibration
- Set DETECT_INTERVAL=1 for per-frame detection in both calibrate scripts
This commit is contained in:
dev01
2026-06-04 20:03:35 +08:00
parent 04f9529c99
commit 5752e76576
3 changed files with 12 additions and 4 deletions
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scripts/calibrate/calibrate.py
+1 -1
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@@ -16,7 +16,7 @@ import json
SQUARE_SIZE = 15.0 # 方格边长 (mm) SQUARE_SIZE = 15.0 # 方格边长 (mm)
CHESSBOARD_COLS = 11 # 内角点列数 CHESSBOARD_COLS = 11 # 内角点列数
CHESSBOARD_ROWS = 8 # 内角点行数 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() currentsystem = platform.system()
scripts/calibrate/laser_calibrate.py
+1 -1
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@@ -23,7 +23,7 @@ import json
SQUARE_SIZE = 15.0 # 方格边长 (mm) SQUARE_SIZE = 15.0 # 方格边长 (mm)
CHESSBOARD_COLS = 11 # 内角点列数 CHESSBOARD_COLS = 11 # 内角点列数
CHESSBOARD_ROWS = 8 # 内角点行数 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） ===== # ===== 激光点检测参数（蓝紫色激光，HSV 色彩空间） =====
workspace/src/algorithm_pkg/algorithm_pkg/vision_node.py
+10 -2
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@@ -27,8 +27,16 @@ CALIB_JSON = """
# Laser line parameters (paste from laser_calibrate.py JSON output) # Laser line parameters (paste from laser_calibrate.py JSON output)
LASER_JSON = """ LASER_JSON = """
{ {
"direction": [-0.00989344622939825, 0.015559548512101173, 0.9998300075531006], "direction": [
"origin": [-26.1895751953125, -3.379796028137207, 0.0] -0.008737712167203426,
0.028661146759986877,
0.999550998210907
],
"origin": [
-24.54082679748535,
-9.881448745727539,
0.0
]
} }
""" """