# Vision classifier config EXAMPLE — copy to config.yaml and edit locally.
# Do not commit config.yaml (it may contain site-specific credentials).

camera:
  depth_device: /dev/video0
  color_device: /dev/video4
  width: 640
  height: 480
  fps: 30
  depth_scale_mm: 1.0
  # D415 @ 640x480 approximate intrinsics — calibrate on your setup
  fx: 564.0
  fy: 564.0
  cx: 320.0
  cy: 240.0
  color_dx: -40.0
  color_dy: -8.0
  color_scale: 1.030

belt_distance_mm: 594
belt_tolerance_mm: 25
min_object_height_mm: 20
min_object_area_px: 800
roi_margin:
  top: 0.12
  bottom: 0.02
  left: 0.05
  right: 0.12
max_objects_in_frame: 3
use_color: true
use_background_map: false
detect_flat_rgb: false
rgb_diff_threshold: 35

classification:
  min_mm: [10, 10, 10]
  max_mm: [450, 320, 320]
  circle_ratio_threshold: 0.8
  uncertain_after_frames: 45
  uncertain_fallback_zone: C

# MQTT is OPTIONAL and disabled by default for safe local runs.
mqtt:
  broker: "127.0.0.1"
  port: 1883
  user: ""
  password: ""
  client_id: "vision_classifier"
  topic_result: "vision/feedback/category"
  topic_dims: "vision/feedback/dimensions"
  topic_circle: "vision/feedback/circle_ratio"
  topic_debug: "vision/feedback/debug"
  enabled: false

motor:
  enabled: false
  rpm: -200
  current_percent: 50
  microsteps: 16
  stealthchop: true
  disable_on_stop: false

routing:
  enabled: false
  zones:
    B:
      servo: 0
      idle_angle: 0
      divert_angle: 0
      hold_ms: 500
    C:
      servo: 1
      idle_angle: 0
      divert_angle: 90
      hold_ms: 800
    D:
      servo: 2
      idle_angle: 0
      divert_angle: 90
      hold_ms: 800
  cooldown_ms: 1500

runtime:
  show_preview: false
  save_debug_frames: false
  debug_dir: "debug_frames"
  decisions_log: "logs/decisions.jsonl"
  preview_every_n: 3
  process_every_n: 1
  confirm_frames: 8