feat: 增加最後對準基地運行

feat: 增加原始模型參數和任務版本

test/test_cali.py

@@ -34,15 +34,16 @@ def signal_handler(sig, frame):
 
 offset = 0
 signal.signal(signal.SIGTERM, signal_handler)
+cmd_py_obj.send_speed_x(15)
 while True:
-    time.sleep(0.2)
-    ret, box = filter.get(tlabel.LMARK)
-    if ret:
-        # 宽度大于 41 停车
-        print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
+
+    time.sleep(0.02)
+    ret, box = filter.get(tlabel.BASE)
     # if ret:
-    #     error = (box[0][2] + box[0][0] - 320) / 2 + offset
-    #     print(error)
-        
-    #     cmd_py_obj.send_speed_omega(-error * 0.8)
+        # 宽度大于 41 停车
+        # print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
+    if ret:
+        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        print(error)
+        cmd_py_obj.send_speed_omega(-error * 0.8)
 car_stop()

test/test_filter.py

@@ -16,18 +16,18 @@ socket.connect("tcp://localhost:6667")
 logger.info("subtask yolo client init")
 
 filter = label_filter(socket)
-filter.switch_camera(1)
+filter.switch_camera(2)
 
 
-find_counts = 0
-offset = 19
-label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
-label = tlabel.TPLATFORM
+# find_counts = 0
+# offset = 19
+# label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
+# label = tlabel.TPLATFORM
 while True:
     time.sleep(0.2)
-    ret, box = filter.get(tlabel.TPLATFORM)
+    ret, box = filter.get(tlabel.BASE)
     if ret:
-        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        error = (box[0][2] + box[0][0] - 320) / 2
         logger.error(error)
 
     # label = tlabel.HOSPITAL