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config.py
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config.py
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"""
配置类
config.py
从外部文件读取配置
created by 李龙 2021/12
最终修改 by 李龙 2021/1/15
"""
import os
import numpy as np
from real_points import real_points
enemy_color = 0 # 0：敌方为红色；1：敌方为蓝色
USEABLE = {
"cam_left": True,
"cam_right": False,
"serial": False,
"Lidar": False,
"locate_state": [0, 1],
}
BO = 0
DEBUG = False
using_video = True
cam_config = {
"cam_right": {
"id": "J37877236",
"size": (3072, 2048),
"roi": (0, 0, 3072, 1648),
"using_net": False,
"video_path": "/home/hoshino/CLionProjects/hitsz_radar/resources/records/radar_video/20_16_34_right.avi",
"K_0": np.mat([[2505.2629026927225, 0.0, 1529.4286325395244],
[0.0, 2505.5722700649067, 1026.1378217662113],
[0.0, 0.0, 1.0]]),
"C_0": np.mat([-0.06856710471358254, 0.1269396451339073,
-0.0003599605406165552, -0.0004173270419984247,
-0.141056084229664]),
"exposure": 7000,
"gain": 18,
"rvec": np.mat([[1.69750257], [0.69091169], [-0.54474128]]),
"tvec": np.mat([[-11381.85466339], [-584.01247871], [9359.30328641]]),
"E_0": np.mat([
[0.00462803, -0.999749, 0.0219115, 0.154876],
[0.0931124, -0.0213857, -0.995426, -0.0506296],
[0.995645, 0.0066471, 0.0929901, -0.137197],
[0, 0, 0, 1]
])},
"cam_left": {
"id": "J87631625",
"size": (3072, 2048),
"roi": (0, 200, 3072, 1848),
"using_net": True,
"video_path": "/home/hoshino/CLionProjects/hitsz_radar/resources/records/radar_data/19_13_36_left.avi",
"K_0": np.mat([[2580.7380664637653, 0.0, 1535.9830165125002],
[0.0, 2582.8839945792183, 1008.784910706948],
[0.0, 0.0, 1.0]]),
"C_0": np.mat([[-0.0640364274094021], [0.04211319930460198], [0.0010490064499735965],
[-0.0003352752162304746], [0.27835581516135494]]),
"exposure": 15000,
"gain": 21,
"rvec": np.mat([[1.69750257], [0.69091169], [-0.54474128]]),
"tvec": np.mat([[-11381.85466339], [-479.01247871], [9449.30328641]]),
"E_0": np.mat([
[0.0185759, -0.999824, 0.00251985, -0.0904854],
[0.0174645, -0.00219543, -0.999845, -0.132904],
[0.999675, 0.018617, 0.0174206, -0.421934],
[0, 0, 0, 1]
])},
}
net1_engine = os.path.dirname(os.path.abspath(__file__)) + "/resources/net_onnx/net1_sjtu.engine"
net2_engine = os.path.dirname(os.path.abspath(__file__)) + "/resources/net_onnx/net2_last.engine"
net1_cls = ['car', 'watcher', 'base']
net2_cls_names = ["0", "1", "2", "3", "4",
"5", "O", "Bs", "Bb"]
net2_col_names = ["B", "R", "N", "P"]
color2enemy = {"red": 0, "blue": 1}
enemy2color = ['red', 'blue']
num2cam = ['左', '右']
armor_list = ['R1', 'R2', 'R3', 'R4', 'R5', 'B1', 'B2', 'B3', 'B4', 'B5'] # 雷达站实际考虑的各个装甲板类
unit_list = ['R1', 'R2', 'R3', 'R4', 'R5', 'RG', 'RO', 'RB', 'B1', 'B2', 'B3', 'B4', 'B5', 'BG', 'BO',
'BB'] # 赛场上各个目标，主要用于HP显示
# 小地图图片路径
MAP_PATH = os.path.dirname(os.path.abspath(__file__)) + "/resources/map.jpg"
BAG_FIRE = "/home/hoshino/CLionProjects/hitsz_radar/resources/2022_06_15_10_11_01.dat"
# 小地图设定大小
map_size = (716, 384)
real_size = (28., 15.)
region = \
{
'a_red_环形高地1_a': [real_points[27], real_points[28], real_points[25], real_points[26]],
'a_red_环形高地2_a': [real_points[31], real_points[27], real_points[26], real_points[32]],
'a_red_我方前哨站_d': [real_points[15], real_points[29], real_points[30], real_points[19], real_points[17],
real_points[51]],
'a_red_敌方前哨站_d': [real_points[33], real_points[8], real_points[2], real_points[1], real_points[0]],
'a_red_飞坡_d': [real_points[0], real_points[66], real_points[67], real_points[75]],
'a_red_我方3号高地_a': [real_points[59], real_points[60], real_points[35], real_points[64], real_points[63]],
'a_red_敌方3号高地_a': [real_points[44], real_points[70], real_points[12], real_points[54], real_points[68]],
'a_red_前哨站我方盲道_d': [real_points[30], real_points[25], real_points[58], real_points[21], real_points[19]],
'a_red_3号高地下我方盲道及公路区_a': [real_points[26], real_points[60], real_points[35], real_points[65]],
'a_blue_环形高地1_a': [real_points[9], real_points[10], real_points[11], real_points[7]],
'a_blue_环形高地2_a': [real_points[10], real_points[11], real_points[13], real_points[14]],
'a_blue_我方前哨站_d': [real_points[33], real_points[8], real_points[43], real_points[2], real_points[0],
real_points[71]],
'a_blue_敌方前哨站_d': [real_points[15], real_points[30], real_points[19], real_points[18], real_points[17],
real_points[51]],
'a_blue_飞坡_d': [real_points[55], real_points[17], real_points[78], real_points[56]],
'a_blue_我方3号高地_a': [real_points[44], real_points[70], real_points[12], real_points[54], real_points[68]],
'a_blue_敌方3号高地_a': [real_points[59], real_points[60], real_points[35], real_points[64], real_points[63]],
'a_blue_前哨站我方盲道_d': [real_points[43], real_points[7], real_points[4], real_points[76], real_points[2]],
'a_blue_3号高地下我方盲道及公路区_a': [real_points[11], real_points[53], real_points[12], real_points[45]],
}
test_region = \
{
'a_fp_red_环形高地_a': [8.90, 6.69, 8.90, 9.36, 10.37, 9.00, 10.37, 7.00, 0.60],
'a_fp_blue_环形高地_a': [8.90, 6.69, 8.90, 9.36, 10.37, 9.00, 10.37, 7.00, 0.60],
}
PC_STORE_DIR = ""
LIDAR_TOPIC_NAME = "/livox/lidar"
# 0为正式场上使用的points 1为debug用
objNames = [
{
"cam_left_red": ['飞坡点(右)', '风车狙击点角(左)', '烧饼左', 'R2右', '环形高地银矿左角（敌方）',
'敌方环形高地围栏点', '我方银矿左上', '我方银矿左下', 'B3B1', '我方长挡板高点'],
"cam_right_red": ['我方风车狙击点角(左)', '烧饼左', 'R2右', '环形高地银矿左角(敌方)', '敌方环形高地围栏点',
'我方银矿左上', '我方银矿左下', 'R4右口', '我方长挡板高点'],
"cam_left_blue": ['飞坡点(右)', '风车狙击点角(左)', '烧饼左', 'B2右', '环形高地银矿左角(敌方)',
'敌方环形高地围栏点', '我方银矿左上', '我方银矿左下', 'R3R1', '我方长挡板高点'],
"cam_right_blue": ['我方风车狙击点角(左)', '烧饼左', 'B2右', '环形高地银矿左角(敌方)', '敌方环形高地围栏点',
'我方银矿左上', '我方银矿左下', 'B4右口', '我方长挡板高点'],
},
{
"cam_left_red": ['风车狙击点角', '烧饼轨道左', '烧饼轨道右', '环形高低银矿处角',
'环形高低坡下角(右)', '环形高地坡右下角(左)', " "],
"cam_right_red": ['风车狙击点角', '烧饼轨道左', '烧饼轨道右', '环形高低银矿处角',
'环形高低坡下角(右)', '环形高地坡右下角(左)', " "],
"cam_left_blue": ['风车狙击点角', '烧饼轨道左', '烧饼轨道右', '环形高低银矿处角',
'环形高低坡下角(右)', '环形高地坡右下角(左)', " "],
"cam_right_blue": ['风车狙击点角', '烧饼轨道左', '烧饼轨道右', '环形高低银矿处角',
'环形高低坡下角(右)', '环形高地坡右下角(左)', " "]
}
]
# 德劳内三角定位选取定位点
choose = {"cam_left_red": [37, 65, 33, 66, 73, 72, 32, 28,
27, 29, 26, 30, 31, 15, 14, 41,
42, 40, 39, 9, 10, 11, 8, 12,
13, 1, 2, 3, 67, 38, 76, 77,
16, 17, 71],
"cam_right_red": [33, 32, 28, 27, 29, 26, 31, 30,
80, 79, 20, 16, 17, 54, 2, 3,
76, 77, 9, 10, 11, 8, 15, 14,
13, 38, 71, 41, 42, 39, 40],
"cam_left_blue": [38, 55, 14, 54, 53, 52, 15, 66,
11, 12, 10, 8, 9, 44, 32, 33,
39, 40, 42, 41, 30, 29, 28, 26,
61, 27, 36, 18, 19, 20, 56, 37,
79, 80, 34, 35],
"cam_right_blue": [14, 15, 11, 12, 10, 8, 44, 9,
77, 76, 2, 34, 35, 66, 19, 20,
79, 80, 30, 29, 28, 26, 32, 33,
36, 37, 61, 39, 40, 41, 42]
}
# 0为正式场上使用的points 1为debug用
objPoints = [
{
"cam_left_red": np.array([real_points[0],
real_points[1],
real_points[5],
real_points[13],
real_points[7],
real_points[8],
real_points[27],
real_points[26],
real_points[51],
real_points[29]], dtype=np.float32),
"cam_right_red": np.array([real_points[19],
real_points[5],
real_points[13],
real_points[7],
real_points[8],
real_points[27],
real_points[26],
real_points[48],
real_points[29]], dtype=np.float32),
"cam_left_blue": np.array([real_points[17],
real_points[18],
real_points[22],
real_points[32],
real_points[25],
real_points[29],
real_points[10],
real_points[11],
real_points[12],
real_points[8]], dtype=np.float32),
"cam_right_blue": np.array([real_points[2],
real_points[22],
real_points[32],
real_points[25],
real_points[29],
real_points[10],
real_points[11],
real_points[48],
real_points[8]], dtype=np.float32),
},
{
"cam_left_red": np.array([[9.56, 2.91, .90], # 风车狙击点角
[5.59, 5.50, 1.376], # 烧饼轨道左
[5.59, 9.36, 1.376], # 烧饼轨道右
[9.09, 6.69, .600], # 环形高低银矿处角
[11.18, 5.91, 0.], # 环形高低坡下角(右)
[10.15, 5.26, 0.], # 环形高地坡右下角(左)
[9.09, 9.36, .600]], dtype=np.float32),
"cam_right_red": np.array([[9.56, 2.91, .90], # 风车狙击点角
[5.59, 5.50, 1.376], # 烧饼轨道左
[5.59, 9.36, 1.376], # 烧饼轨道右
[9.09, 6.69, .600], # 环形高低银矿处角
[11.18, 5.91, 0.], # 环形高低坡下角(右)
[10.15, 5.26, 0.], # 环形高地坡右下角(左)
[9.09, 9.36, .600]], dtype=np.float32),
"cam_left_blue": np.array([[9.56, 2.91, .90], # 风车狙击点角
[5.59, 5.50, 1.376], # 烧饼轨道左
[5.59, 9.36, 1.376], # 烧饼轨道右
[9.09, 6.69, .600], # 环形高低银矿处角
[11.18, 5.91, 0.], # 环形高低坡下角(右)
[10.15, 5.26, 0.], # 环形高地坡右下角(左)
[9.09, 9.36, .600]], dtype=np.float32),
"cam_right_blue": np.array([[9.56, 2.91, .90], # 风车狙击点角
[5.59, 5.50, 1.376], # 烧饼轨道左
[5.59, 9.36, 1.376], # 烧饼轨道右
[9.09, 6.69, .600], # 环形高低银矿处角
[11.18, 5.91, 0.], # 环形高低坡下角(右)
[10.15, 5.26, 0.], # 环形高地坡右下角(左)
[9.09, 9.36, .600]], dtype=np.float32),
}
]
# 0为正式场上使用的points 1为debug用
Delaunary_points = [
{
"cam_left": [
(0, 0, 3072, 2048),
real_points
],
"cam_right": [
(0, 0, 3072, 2048),
real_points
]
},
{
"cam_left": [
(0, 1023, 3072, 1024),
real_points
],
"cam_right": [
(0, 1023, 3072, 1024),
real_points
]
}
]