person_approach_node:
  ros__parameters:
    # RTSP 地址
    rtsp_url: "rtsp://admin:hhzx2025@192.168.0.36:554/Streaming/Channels/201"

    # HBM 模型
    model_path: "/opt/hobot/model/s100/basic/yolov5x_672x672_nv12.hbm"

    # COCO 标签
    label_file: "/app/res/labels/coco_classes.names"

    # pydev_demo 的 utils 路径
    # 因为 preprocess_utils/postprocess_utils/common_utils 还在 /app/pydev_demo/utils
    pydev_demo_path: "/app/pydev_demo"

    # BPU 调度
    priority: 0
    bpu_cores: [0]

    # YOLO 后处理
    score_thres: 0.25
    nms_thres: 0.45

    # 人物靠近判断
    person_score_thres: 0.45
    area_ratio_thres: 0.15
    center_offset_thres: 0.25
    stable_frames: 5
    cooldown_sec: 8.0

    # 循环间隔
    loop_sleep_sec: 0.01

    # 调试日志
    debug: true

    # 事件 Topic
    event_topic: "/skill/person_approach/event"