# perception_node 的默认值。launch 会用 ~/ros2/config/site.yaml 的 yolo: / paths: 覆盖。
# 日常调参**不要改这里**，改 site.yaml。
#
# 注意：下面 weights / conf / iou / imgsz / device / half_precision / min_conf 这几项
# 一定被 site.yaml 覆盖，这里只是"没有 site.yaml 时的兜底"。所以它们必须和 site.yaml
# 保持一致 —— 曾经这里写死 imgsz=416 而实际模型是 640，一旦覆盖失效就会用错尺寸。

perception_node:
  ros__parameters:
    camera_source: "d405"
    camera_namespace: ""
    image_topic: ""
    camera_info_topic: ""
    depth_topic: "/d405/aligned_depth_to_color/image_raw"
    weights: "/home/cc/ros2/models/yolo/detect_best_0.onnx"
    conf: 0.10
    iou: 0.45
    imgsz: 640
    device: "0"
    half_precision: true
    min_conf: 0.12
    vision_hz: 20.0
    z_ref_m: 0.30
    # Large gate + reacquire: fast motion must NOT freeze track
    jump_px: 280.0
    jump_z_m: 0.20
    min_depth_m: 0.05
    max_depth_m: 2.50
    object_frame: "tracked_object"
    camera_frame: "d405_color_optical_frame"
    # Snappy KF + blend toward raw measurement
    kf_q_pos: 0.002
    kf_q_vel: 0.05
    kf_r_pos: 0.0008
    meas_blend: 0.65
    # Faster infer + tight box follow
    infer_max_width: 640
    box_ema_alpha: 0.85
    miss_clear_frames: 2
    # Item 4 — adaptive Z depth LPF
    z_alpha_min: 0.10
    z_alpha_max: 0.60
    z_alpha_gain: 2.0
    feature_mode: "plane"  # stereo 3D centroid; box = monocular box-center ray
    plane_inlier_m: 0.008
    plane_band_m: 0.06