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config.yaml
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config.yaml
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beacon:
# known object width (cm)
real_width: 8.5
# camera-lenses real world distance (cm) from robot centre
distance_from_reference_pic: 7
# colour boundaries when in HSV: H (0-180) | S (0-255) | V (0-255)
hsv_color_boundaries:
- - !!python/tuple # Red
- [110, 120, 115]
- [180, 200, 255]
- - !!python/tuple # Blue
- [30, 75, 100]
- [110, 255, 255]
- - !!python/tuple # Purple
- [125, 10, 50]
- [160, 80, 180]
- - !!python/tuple # Yellow
- [20, 5, 125]
- [40, 255, 255]
- - !!python/tuple # Orange
- [5, 85, 100]
- [20, 230, 255]
rgb_color_boundaries:
- - !!python/tuple # Red
- [70, 60, 200]
- [150, 110, 250]
- - !!python/tuple # Blue
- [160, 160, 0]
- [255, 255, 60]
- - !!python/tuple # Purple
- [95, 80, 95]
- [130, 110, 120]
- - !!python/tuple # Yellow
- [30, 130, 130]
- [80, 170, 160]
- - !!python/tuple # Orange
- [70, 100, 190]
- [145, 140, 240]
camera:
focal_length: 4305
# x-centre-coordinate of the 2592x1944 resolution picture
pic_centre_width: 1296
vertical_servo_pin: 27
horizontal_servo_pin: 22
resolution: !!python/tuple [2592, 1944]
scanning_step: 300 # area scanning step in ms. 1deg ~= 10ms
grid:
astar_or_dijkstra: 1 # 0 for A*, 1 for Dijkstra
cell_size: 50
columns: 5
rows: 5
goal: !!python/tuple [2, 3]
start: !!python/tuple [2, 0]
beacons_columns: [2, 4, 0, 4, 0]
beacons_rows: [4, 2, 4, 4, 2]
orientation_reference_row: 4
offload: true
post_url : "http://192.168.1.114:8000/"