# ============================================================
#  (C++ port)
#
#  Python  e:/02_Modules/StereoVisionBoltMeasurement/config.yaml
# 
#  Python  paths 
# ============================================================

# ----------  ----------
image:
  width: 4096
  height: 3000
  channels: 1
  expected_dtype: "uint8"
  allowed_extensions: [".tiff", ".tif", ".bmp", ".png"]

# ----------  ----------
image_validation:
  min_max_value: 10
  max_saturation_ratio: 0.20

# ---------- ChArUco  ----------
charuco:
  rows: 9
  cols: 9
  square_length_mm: 50.0
  marker_length_mm: 37.0
  dict_id: 11                    # DICT_6X6_1000
  min_corners_per_image: 30

# ----------  ----------
calibration:
  source: "xml"
  xml_path: "calib/stereo_calib.xml"   # 0621 新装配 baseline 482mm (ChArUco)
  min_image_pairs: 15
  max_skip_ratio: 0.30
  max_single_rms: 0.40   # :  12MP  RMS=0.373(5MP  0.19)
                          # 0.40 ;0.373  0.1px ,,
                          #  <0.20 
  max_stereo_rms: 0.80
  expected_baseline_range: [80, 600]
  use_fix_intrinsic: true

# ----------  ----------
# alpha=1.0  CLAUDE.md  #1
rectification:
  alpha: 1.0
  interpolation: "cubic"
  validation_feature_count: 500
  validation_match_count: 10
  epipolar_inlier_threshold_pixel: 5.0
  min_epipolar_inlier_count: 3
  max_epipolar_error_pixel: 5.0
  min_valid_roi_ratio: 0.25

# ---------- SGBM  ----------
# min_disparity / num_disparities  f_rectB
#  f_rect3190, B235mmalpha=1.0 
sgbm:
  min_disparity: 288
  num_disparities: 736
  block_size: 5
  P1: 600
  P2: 2400
  disp12_max_diff: 1
  uniqueness_ratio: 10
  speckle_window_size: 100
  speckle_range: 2
  pre_filter_cap: 63
  mode: "SGBM_3WAY"

# ---------- WLS  ----------
wls:
  lambda_value: 8000.0
  sigma_color: 1.5

# ----------  ----------
disparity_validation:
  min_valid_pixel_ratio: 0.10
  min_disparity_range: 50
  max_nan_ratio: 0.90

# ----------  ----------
# z_min_mm / z_max_mm / expected_wd_range are FALLBACK only  when run_pipeline /
# c_api are wired (the standard path) SceneRuntime derives the real reachable
# Z range from (f_rect, baseline, sgbm.min_disparity, sgbm.num_disparities) and
# overrides these values per frame. See docs/L_100_SCENE_HANDOFF.md 6.2 and
# include/stereo_bolt/scene_runtime.hpp. Keep the fallback values conservative
# enough to cover every supported workpiece distance.
pointcloud:
  z_min_mm: 600
  z_max_mm: 3000
  expected_wd_range: [600, 3000]
  min_num_points: 50000
  max_z_std_mm: 800
  min_bbox_extent_x_mm: 200
  min_bbox_extent_y_mm: 100
  sor_nb_neighbors: 30
  sor_std_ratio: 2.0
  voxel_downsample_min_points: 500000
  voxel_size_mm: 0.5
  roi_mask:
    enabled: false
    method: "hsv_threshold"
    hsv_lower: [0, 0, 210]
    hsv_upper: [180, 50, 255]
    morph_close_kernel: 15
    dilate_px: 100
    min_area_ratio: 0.02

# ---------- 2D  ----------
# mask_method:  foam_mask( mask) 
#   "brightness"   + (;
#                   rectify ROI  0, mask  ROI )
#   "ransac"       dense xyz_map  RANSAC ,
#                   " < ransac.distance_thresh_mm" mask
#  "brightness"  parity_tests , "ransac"
bolt_detect_2d:
  mask_method: "ransac"
  foam_brightness_threshold: 70
  foam_morph_open_kernel: 21
  foam_dilate_px: 0
  bbox_margin_px: 60
  bolt_morph_close_kernel: 15
  bolt_min_area_px: 800
  min_bolts: 1
  max_bolts: 0
  bolt_exclude_dilate_px: 0      #  0 CLAUDE.md  #5
  ransac:
    distance_thresh_mm: 8.0      #  <  inlier(3 
                                  # frame 100 residual_std2.6 mm)
    max_iterations: 200
    min_inlier_ratio: 0.15       # inlier 
    sample_stride: 4             # xyz_map ( 44  1  RANSAC )
    morph_close_kernel_px: 9     # mask  + 

# ----------  (SVD on foam mask) ----------
plane:
  max_residual_std_mm: 15.0
  max_normal_to_axis_deg: 60
  outlier_rejection_iterations: 5
  outlier_mad_k: 2.5

# ----------  ----------
# plane fit bolt extract  bolt  3D 
# inlier OBB,  OBB  margin_mm  WARN
# margin_mm  bolt.expected_diameter_mm, 
# /
support_gate:
  enabled: true
  margin_mm: 10.0

# ----------  ----------
# (run_pipeline / c_api) bolt  bbox_projection  h_est,
#  extract  height  max(h_est  1.3, h_est + 20 mm),
# validate_measurements  |measured - h_est| < bolt.height_tolerance_mm
#  max_height_mm / extract_height_filter_mm  fallback   
# bbox_projection h_est 
# (expected_diameter_mm),
bolt:
  min_height_mm: 5.0
  max_height_mm: 250.0                 # fallback ceiling (used only when h_est is unavailable)
  extract_height_filter_mm: 200.0      # fallback filter (same condition)
  height_tolerance_mm: 60.0            # |measured - h_est| ; validate_measurements 
  expected_diameter_mm: 16.0
  min_points_per_bolt: 50
  max_axis_plane_angle_deg: 30
  extract_fallback: "bbox_projection"   # 'none' | 'bbox_projection';  YOLO bbox + , SGBM /

# ----------  ----------
measurement:
  top_extraction_method: "percentile_on_axis"
  top_percentile: 0.99
  foot_rim_correction: false   # 0621 决定: 关 rim(圆顶无领圈杆上 rim 修正会过冲)

# ---------- Diagnostics ----------
diagnostics:
  enabled: true
  blind_strip_warn_ratio: 0.25
  min_roi_pointcloud_coverage_ratio: 0.001

# ---------- YOLO  ----------
#  C++  ONNX Python  best_v4_finetune.pt  .onnx
# dilate (50/30),
# scene_runtime.cpp  pixels_per_mm(= f / Z_repr),
#  / 
yolo:
  enabled: true
  # 统一模型: 精测(sb_process_bolt_module_*)与测距(sb_range_bolt_binned)共用 weights/best.rknn。
  # 当前交付模型为 960 输入；文件名保持稳定，模型更新时只替换 weights/best.rknn。
  model_path: "weights/best.rknn"
  backend: "rknn"
  imgsz: 960
  conf: 0.5
  dead_zone_min_valid_pts: 50
  dead_zone_bbox_dilate_mm: 24.0   # = expected_diameter_mm  1.5;  valid_xyz  bbox ,/
  foam_bbox_dilate_mm: 16.0        # = expected_diameter_mm  1.0; foam_mask  YOLO bbox 

  # Experimental: keep sparse-global YOLO bolts only when right YOLO + local LR check pass.
  local_stereo_fallback:
    enabled: true
    min_valid_points: 50

# ---------- working distance (physical, rig-level) ----------
# 0621 新装配 B=482mm: 精测视差带从 WD + 标定自推导 (disp = f*B/Z), 换基线无需重调像素。
# 旧固定 sgbm 像素带(288/736)是 200mm 装配的, 对 482mm 会 NEAR-clip 近处螺柱。
# 注意: 需 .so 含视差带解耦(commit dc696d8 起); 旧 .so 不读此块仍用固定带。
working_distance:
  z_min_mm: 1200
  z_max_mm: 2800

# ---------- ranging (binned) ----------
# 测距视差带也按 0621 rig 的 WD; 物理 LRC 门(mm)随距离自紧。
ranging:
  z_min_mm: 1300
  z_max_mm: 3600
  lrc_max_mm: 2.5
  lrc_trusted_mm: 1.2

# ----------  ----------
evaluation:
  height_max_mm: 2.0
  height_p95_mm: 1.5
  pair_max_mm: 2.0
  pair_p95_mm: 1.5
  repeatability_std_max_mm: 1.0
  matching_max_distance_mm: 50.0

# ----------  ----------
pipeline:
  fail_fast: true
  resume_from_checkpoint: true
  parallel_frames: false
  save_intermediate: false

# ----------  ----------
logging:
  level: "INFO"
  log_to_file: true
  log_file: "outputs/logs/pipeline.log"

# ----------  ----------
#  dataset/ , Python 
paths:
  calibration_dir: "calib"
  test_dir: "dataset/test"
  groundtruth_csv: "dataset/groundtruth.csv"
  output_dir: "outputs_macro257"
  stereo_params_yaml: "outputs_macro257/stereo_params.yaml"