| name | replay-auto-aim |
| description | Reproduce and isolate auto-aim detection, tracking, solving, aiming, and planning issues from recorded video in this repository. Use for false positives, missed armors, tracker state changes, aim jitter, fire decisions, or latency regressions. |
Replay Auto-Aim
Use recorded inputs before using a camera or gimbal. The goal is a tight, repeatable loop that can go red on the reported symptom.
Workflow
- State the symptom as an observable assertion: frame range, expected armor/target, tracker state, command tolerance, or timing threshold.
- Verify
assets/demo/demo.avi and assets/demo/demo.txt, select a small frame range, and run from the repository root.
- Choose the narrowest executable:
detector_video_test for YOLO versus traditional detection and corner geometry;auto_aim_test for YOLO, Solver, Tracker, and Aimer together;planner_test_offline for trajectory and fire planning without camera or gimbal.
- If OpenVINO GPU is unavailable, use a temporary copied YAML with
device: CPU; never overwrite the robot config during diagnosis.
- Compare one variable at a time: model, detector mode, config threshold, frame interval, or calibration. Record frame index, detection count, tracker state, command, and stage timings.
- Minimise the frame range until removing any remaining input makes the symptom disappear. Turn that replay into a regression test at a public seam before changing implementation.
Evidence and boundaries
auto_aim_test and detector_video_test use OpenCV windows and require a display; report headless limitations explicitly.Plotter sends JSON to UDP 127.0.0.1:9870; capture or disable that observer only when it is part of the repro.- Do not infer planner correctness from a process that merely stays alive. Check target yaw/pitch, trajectory values, and fire flag.
- Remove temporary debug logging and rerun the original frame range after the fix. Use
$diagnosing-bugs for difficult reproductions and $tdd for the retained regression test.
Read replay-matrix.md for command syntax and pipeline facts.
