# usb_cam remains the only process that opens /dev/video0.  While this LED
# recognizer runs at the sign point, it may switch the shared camera to the
# manual LED profile below, then restore automatic exposure on shutdown.
image_topic: /usb_cam/image_raw
enabled: true
model_path: ""
classes: [left, right, straight, stop]
input_size: 640
object_threshold: 0.25
nms_threshold: 0.45

# Preserve red LED colour.  Do not use the QR node's grayscale preprocessing.
flip_horizontal: true
# These are software-only adjustments made after subscribing to image_topic.
# They never change /usb_cam/image_raw or the USB camera hardware controls.
brightness: 0
contrast: 1.0
saturation: 1.0
# Tested on the real LED sign: CLAHE brightens floor reflections and reduces
# arrow contrast, so keep it disabled for both collection and NPU inference.
lab_clahe: false
clahe_clip_limit: 1.5
clahe_tile_grid: [8, 8]
gamma: 1.0

# Hardware profile used only during LED-sign recognition.  This affects the
# shared camera image temporarily, so start this node only at the sign point.
camera_profile_enabled: true
camera_device: /dev/video0
led_exposure_auto: 1
led_exposure_auto_priority: 0
led_exposure_absolute: 50
led_white_balance_auto: true
restore_camera_on_shutdown: true
restore_exposure_auto: 3
restore_exposure_auto_priority: 0
restore_white_balance_auto: true
restore_brightness: 0
restore_contrast: 50
restore_saturation: 50
restore_gamma: 300

# A direction is accepted only after four matching detections in five frames.
stability_window: 5
stable_count: 4