# YOLOv8n Object Detection Configuration

object_detection:
  ros__parameters:
    # Model paths
    engine_path: /mnt/nvme/saltybot/models/yolov8n.engine
    onnx_path: /mnt/nvme/saltybot/models/yolov8n.onnx

    # Inference parameters
    confidence_threshold: 0.5        # Detection confidence threshold (0-1)
    nms_iou_threshold: 0.45          # Non-Maximum Suppression IoU threshold

    # Per-frame filtering
    min_confidence_filter: 0.4        # Only publish objects with confidence >= this
    enabled_classes:                  # COCO class IDs to detect
      - 0    # person
      - 39   # cup
      - 41   # bowl
      - 42   # fork
      - 43   # knife
      - 47   # apple
      - 48   # banana
      - 49   # orange
      - 56   # wine glass
      - 62   # backpack
      - 64   # handbag
      - 73   # book

    # Depth sampling parameters
    depth_window_size: 7             # 7x7 window for median filtering
    depth_min_range: 0.3             # Minimum valid depth (meters)
    depth_max_range: 6.0             # Maximum valid depth (meters)

    # Publishing
    target_frame: "base_link"        # Output frame for 3D positions
    publish_debug_image: false       # Publish annotated debug image
