config.yaml

# Global constants for main with CUDA

queue_max_size: 10

video_input:
    worker_period: 1.0  # seconds
    camera_enum: 0  # Enum values can be found in camera_factory.py
    width: 1920
    height: 1200
    # For camera_enum=0, use the OpenCV camera config. For camera_enum=1, use the PiCamera2 config
    # OpenCV camera config (regular cameras, enum 0)
    camera_config:
        device_index: 0
    # PiCamera2 camera config (PiCamera NoIR, enum 1)
    # camera_config:
    #     exposure_time: 250  # microseconds
    #     analogue_gain: 64.0  # Sets ISO, 1.0 for normal, 64.0 for max, 0.0 for min
    #     contrast: 1.0  # Contrast, 1.0 for nomral, 32.0 for max, 0.0 for min
    #     lens_position: null  # Focal length, 1/m (0 for infinity, null for auto focus)
    log_images: true  # Set to true to save images
    image_name: "log_image"  # Image name when saving images

detect_target:
    worker_count: 1
    option: 0  # 0 is for Ultralytics (from detect_target_factory.py)
    device: 0
    model_path: "tests/model_example/yolov8s_ultralytics_pretrained_default.pt"  # See autonomy OneDrive for latest model
    save_prefix: "log_comp"

detect_brightspot:
    brightspot_percentile_threshold: 99.9
    filter_by_color: True
    blob_color: 255
    filter_by_circularity: False
    min_circularity: 0.01
    min_circularity: 1
    filter_by_inertia: True
    min_inertia_ratio: 0.2
    max_inertia_ratio: 1
    filter_by_convexity: False
    min_convexity: 0.01
    min_convexity: 1
    filter_by_area: True
    min_area_pixels: 50
    max_area_pixels: 640

flight_interface:
    # Port 5762 connects directly to the simulated auto pilot, which is more realistic
    # than connecting to port 14550, which is the ground station
    address: "tcp:localhost:5762"
    timeout: 30.0  # seconds
    baud_rate: 57600  # symbol rate 
    worker_period: 0.1  # seconds

data_merge:
    timeout: 30.0  # seconds

geolocation:
    resolution_x: 1920
    resolution_y: 1200 
    fov_x: 0.64889
    fov_y: 0.41438
    camera_position_x: 0.0
    camera_position_y: 0.0
    camera_position_z: 0.0
    camera_orientation_yaw: 0.0
    camera_orientation_pitch: -1.57079632679
    camera_orientation_roll: 0.0

cluster_estimation:
    min_activation_threshold: 25
    min_new_points_to_run: 5
    max_num_components: 10
    random_state: 0

communications:
    timeout: 30.0  # seconds