# enemy_color: "red"
enemy_color: "blue"

#####-----神经网络参数-----#####
yolo_name: yolov5
classify_model: assets/tiny_resnet.onnx
yolo11_model_path: assets/yolo11.xml
yolov8_model_path: assets/yolov8.xml
yolov5_model_path: assets/yolov5.xml
device: CPU
min_confidence: 0.8
use_traditional: true

#####-----ROI-----#####
roi: 
  x: 420
  y: 50
  width: 600
  height: 600

use_roi: false

#####-----传统方法参数-----#####
threshold: 150
max_angle_error: 45 # degree
min_lightbar_ratio: 1.5
max_lightbar_ratio: 20
min_lightbar_length: 8
min_armor_ratio: 1
max_armor_ratio: 5
max_side_ratio: 1.5
max_rectangular_error: 25 # degree
min_confidence: 0.8

#####-----tracker参数-----#####
min_detect_count: 5
max_temp_lost_count: 15
outpost_max_temp_lost_count: 75

#####-----aimer参数-----#####
yaw_offset: -1 # degree -2.5
pitch_offset: -1.4 # degree 2
comming_angle: 60 # degree
leaving_angle: 20 # degree
decision_speed: 8 # rad/s
high_speed_delay_time: 0.030 # s
low_speed_delay_time: 0.015 # s

#####-----shooter参数-----#####
first_tolerance: 3 # 近距离射击容差，degree
second_tolerance: 2 # 远距离射击容差，degree
judge_distance: 2 #距离判断阈值
auto_fire: true # 是否由自瞄控制射击

camera_name: "hikrobot"
exposure_ms: 2
gain: 16
vid_pid: "2bdf:0001"

# -1  0  0
#  0 -1  0
#  0  0  1
R_gimbal2imubody: [-1, 0, 0, 0, -1, 0, 0, 0, 1]

# 重投影误差: 0.2697px
camera_matrix: [1818.3669452465165, 0, 751.06226574703498, 0, 1822.494494078506, 530.43671556112133, 0, 0, 1]
distort_coeffs: [-0.077944626599568856, 0.15447826031486889, -0.0025714394278524674, 0.00083016311301273629, 0]

# 相机同理想情况的偏角: yaw0.46 pitch0.61 roll-1.53 degree
R_camera2gimbal: [-0.0083195760046954614, 0.010498791137270739, 0.99991027599468041, -0.99960756138647755, -0.026835747568381807, -0.0080352891314148939, 0.026748978935305992, -0.99958472279097077, 0.010717933047771133]
t_camera2gimbal: [0.094969301833534511, 0.095006290298006682, 0.050987066291756609]

#####-----cboard参数-----#####
quaternion_canid: 0x100
bullet_speed_canid: 0x101
send_canid: 0xff
can_interface: "can0"

#####-----gimbal参数-----#####
com_port: "/dev/gimbal"

#####-----planner-----#####
fire_thresh: 0.003

max_yaw_acc: 50
Q_yaw: [9e6, 0]
R_yaw: [1]

max_pitch_acc: 100
Q_pitch: [9e6,0]
R_pitch: [1]

#####-----buff_detector参数-----#####
detect:
  contrast: 1
  brightness: 
    blue: -120
    red: -100
  brightness_threshold:
    blue: 120
    red: 40
  morphology_size:
    blue: 3
    red: 3
  dilate_size: 2
  # canny_low_threshold: 100
  # canny_high_threshold: 180
  # approx_epsilon: 1.0
  R_contours_min_area: 200
  R_contours_max_area: 600
  fanblades_head_contours_min_area: 3000
  fanblades_head_contours_max_area: 8000
  fanblades_body_contours_min_area: 1000
  fanblades_body_contours_max_area: 4000
  standard_fanblade_path: ./assets/standard_fanblade.jpg

#####-----buff_aimer参数-----#####
aim_time: 0.150         # s
wait_time: 0.300        # s
command_fire_gap: 0.080 # s
predict_time: 0.150     # s