21e83be26e
Add cleaned RealSense/OpenCV CV under cv/ with secret-free example config, MQTT disabled by default, and canonical README coverage for web + CV relationship without claiming production integration. Co-authored-by: Cursor <cursoragent@cursor.com>
91 lines
1.8 KiB
YAML
91 lines
1.8 KiB
YAML
# Vision classifier config EXAMPLE — copy to config.yaml and edit locally.
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# Do not commit config.yaml (it may contain site-specific credentials).
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camera:
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depth_device: /dev/video0
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color_device: /dev/video4
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width: 640
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height: 480
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fps: 30
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depth_scale_mm: 1.0
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# D415 @ 640x480 approximate intrinsics — calibrate on your setup
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fx: 564.0
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fy: 564.0
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cx: 320.0
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cy: 240.0
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color_dx: -40.0
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color_dy: -8.0
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color_scale: 1.030
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belt_distance_mm: 594
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belt_tolerance_mm: 25
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min_object_height_mm: 20
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min_object_area_px: 800
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roi_margin:
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top: 0.12
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bottom: 0.02
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left: 0.05
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right: 0.12
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max_objects_in_frame: 3
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use_color: true
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use_background_map: false
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detect_flat_rgb: false
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rgb_diff_threshold: 35
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classification:
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min_mm: [10, 10, 10]
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max_mm: [450, 320, 320]
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circle_ratio_threshold: 0.8
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uncertain_after_frames: 45
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uncertain_fallback_zone: C
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# MQTT is OPTIONAL and disabled by default for safe local runs.
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mqtt:
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broker: "127.0.0.1"
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port: 1883
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user: ""
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password: ""
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client_id: "vision_classifier"
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topic_result: "vision/feedback/category"
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topic_dims: "vision/feedback/dimensions"
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topic_circle: "vision/feedback/circle_ratio"
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topic_debug: "vision/feedback/debug"
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enabled: false
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motor:
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enabled: false
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rpm: -200
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current_percent: 50
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microsteps: 16
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stealthchop: true
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disable_on_stop: false
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routing:
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enabled: false
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zones:
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B:
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servo: 0
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idle_angle: 0
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divert_angle: 0
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hold_ms: 500
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C:
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servo: 1
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idle_angle: 0
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divert_angle: 90
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hold_ms: 800
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D:
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servo: 2
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idle_angle: 0
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divert_angle: 90
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hold_ms: 800
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cooldown_ms: 1500
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runtime:
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show_preview: false
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save_debug_frames: false
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debug_dir: "debug_frames"
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decisions_log: "logs/decisions.jsonl"
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preview_every_n: 3
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process_every_n: 1
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confirm_frames: 8
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