buaa-transistor-alg/unifiedautoaimpipeline

How buaa-transistor-alg/unifiedautoaimpipeline works

This is a unified auto-aim application with Armor and PowerRune perception modes, selectable camera/video/interactive input, and none/visualize/gimbal output. The main workflow acquires frames, processes them through the selected perception pipeline, then uses its target predictor for ballistic aiming and output. The pipelines share asynchronous stage scheduling, inference-process communication, coordinate transforms, and output infrastructure. The README is empty; the documented pipeline contracts support the main stage relationships, but unsampled implementation details are not expanded.

Main entry points: ArmorPipeline.cpp Armor Pipeline · PowerRunePipeline.cpp PowerRune Pipeline · main.cpp Runtime Orchestrator · Output Output Modes

Components 21

Application

Runtime Orchestrator src/main.cpp
Input Modes src/common/Input

Armor Perception

Armor Pipeline src/Armor/ArmorPipeline.cpp
Armor Detect / PnP src/Armor
Armor Tracking src/Armor/EKF

PowerRune Perception

PowerRune Pipeline src/PowerRune/PowerRunePipeline.cpp
Rune Detect / Pose src/PowerRune
Rune Filtering / Prediction src/PowerRune

Shared Runtime

Stage Scheduler include/common/PipelineStage.h
Inference Client src/common/Infer/InferShmClient.cpp
Process Manager src/common/Infer/InferProcessManager.cpp
Inference Processes src/Infer
Transform Tree src/common/TransformTree
Pipeline Result include/common/PipelineResult.h

Aiming Outputs

Ballistic Prediction src/common/Ballistic/SequencePredictor.cpp
Output Modes src/common/Output
Visualization src/common/Output/VisualizeOutput.cpp
Gimbal Output src/common/Output/GimbalOutput.cpp

Other components

Operator
Camera / Scene
Robot Controller

Connections 25

Operator → Runtime Orchestrator: selects modes
Camera / Scene → Input Modes: provides frames
Input Modes → Runtime Orchestrator: supplies frames
Runtime Orchestrator → Armor Pipeline: feeds selected pipeline
Runtime Orchestrator → PowerRune Pipeline: feeds selected pipeline
Armor Pipeline → Stage Scheduler: schedules stages
PowerRune Pipeline → Stage Scheduler: schedules stages
Armor Pipeline → Inference Client: requests inference
PowerRune Pipeline → Inference Client: requests inference
Inference Client → Inference Processes: exchanges shared-memory data
Process Manager → Inference Processes: starts / restarts
Armor Pipeline → Armor Detect / PnP: runs detection and pose
Armor Pipeline → Armor Tracking: filters targets
PowerRune Pipeline → Rune Detect / Pose: runs detection and pose
PowerRune Pipeline → Rune Filtering / Prediction: filters and predicts
Armor Pipeline → Transform Tree: syncs transforms
PowerRune Pipeline → Transform Tree: syncs transforms
Armor Pipeline → Pipeline Result: assembles perception and predictor
PowerRune Pipeline → Pipeline Result: assembles perception and predictor
Runtime Orchestrator → Pipeline Result: retrieves frame result
Runtime Orchestrator → Ballistic Prediction: supplies target predictor
Runtime Orchestrator → Output Modes: dispatches result
Output Modes → Visualization: renders when selected
Output Modes → Gimbal Output: aims when selected
Gimbal Output → Robot Controller: reads state / sends control

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Drawn by GitDiagram on September 28, 2026 from the repository's file tree, README and source files. Read as Markdown ·