# ============================================================
#  RK3588 delivery config — OBB model, baseline 482mm
#  Only used by sb_create(); sb_create_ex() ignores this file.
# ============================================================

# ---------- working distance ----------
working_distance:
  z_min_mm: 900
  z_max_mm: 4000

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

# ---------- image validation ----------
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
  min_corners_per_image: 30

# ---------- calibration ----------
calibration:
  source: "xml"
  xml_path: "calib/stereo_calib.xml"
  min_image_pairs: 15
  max_skip_ratio: 0.30
  max_single_rms: 0.40
  max_stereo_rms: 0.80
  expected_baseline_range: [80, 600]
  use_fix_intrinsic: true

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

# ---------- pointcloud ----------
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 detection ----------
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
  ransac:
    distance_thresh_mm: 8.0
    max_iterations: 200
    min_inlier_ratio: 0.15
    sample_stride: 4
    morph_close_kernel_px: 9

# ---------- plane ----------
plane:
  max_residual_std_mm: 15.0
  max_normal_to_axis_deg: 60
  outlier_rejection_iterations: 5
  outlier_mad_k: 2.5

# ---------- support gate ----------
support_gate:
  enabled: true
  margin_mm: 10.0

# ---------- bolt ----------
bolt:
  min_height_mm: 5.0
  max_height_mm: 250.0
  extract_height_filter_mm: 200.0
  height_tolerance_mm: 60.0
  expected_diameter_mm: 16.0
  min_points_per_bolt: 50
  max_axis_plane_angle_deg: 30
  extract_fallback: "bbox_projection"

# ---------- measurement ----------
measurement:
  top_extraction_method: "percentile_on_axis"
  top_percentile: 0.99
  top_morphology: "flat_top"
  height_from_plane: false
  plane_use_sgbm: true
  plane_sgbm_scale: 0.5
  plane_max_samples: 40000

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

# ---------- YOLO ----------
yolo:
  enabled: true
  model_path: "weights/best.rknn"
  backend: "rknn"
  task: "obb"
  imgsz: 1024
  conf: 0.5
  dead_zone_min_valid_pts: 50
  dead_zone_bbox_dilate_mm: 24.0
  foam_bbox_dilate_mm: 16.0
  local_stereo_fallback:
    enabled: true
    min_valid_points: 50

# ---------- ranging (binned) ----------
ranging:
  z_min_mm: 900
  z_max_mm: 4000
  lrc_max_mm: 2.5
  lrc_trusted_mm: 1.2

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

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

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