backend: opencv

max_infer_running: 6

detector:
  openvino: 
    model_path: /home/hy/2026_dart_guide/assets/Katrin.xml
    top_k: 128
    conf_threshold: 0.2
    nms_threshold: 0.5
    device_type: CPU
    use_throughputmode: false
  opencv:
    gui: true
    HSV:
      lowH: 25
      highH: 85
      lowS: 50
      highS: 255
      lowV: 150
      highV: 255
    contours:
      min_area: 100
      max_area: 50000
      min_aspect_ratio: 0.5
      min_fill_ratio: 0.7

tracker:
  lost_time_thres: 2.0
  tracking_thres: 10
  target:
    xy_r: 0.05
    wh_r: 0.05
    q_xy: 100
    q_wh: 100
    iter_num: 2
    max_dis_diff: 2.0


logger:
  log_level: INFO
  log_path: /home/hy/wust_log
  use_logcli: true
  use_logfile: true
  use_simplelog: true

control:
  control_rate: 100
  communication_delay_us: 1100
  pitch_avg_windows: 1
  device_name: /dev/ttyACM_RMc
  use_serial: true



camera:
  type: hik_camera
  camera_info_path: ${VISION_ROOT}/config/camera_info.yaml

  hik_camera:
    target_sn: DA1094119 #DA3038891
    acquisition_frame_rate: 80
    adc_bit_depth: Bits_12
    exposure_time: 5000
    gain: 16.9
    gamma: 0.5 #Bayer用不了
    pixel_format: BayerRG8
    use_raw: false
    acquisition_frame_rate_enable: false
    reverse_x: false
    reverse_y: false
    
  video_player:
    fps: 12
    loop: true
    use_cvt: true
    #path: /home/hy/wust_data/video/aaa.mp4
    #path: /home/hy/wust_data/video/jiao.avi
    #path: /home/hy/Z_LION_AutoAim2025/src/auto_aim_publisher/videos/sample.avi
    #path: /home/hy/wust_data/record/20251111_134416_187.avi
    path: /home/hy/下载/sp_vision_25/records/1.avi
    #path: /home/hy/wust_data/video/Sentry.mp4
    start_frame: 0