#ifndef CONFIG_H
#define CONFIG_H

#include <opencv2/opencv.hpp>

// Camera intrinsic parameters (need actual calibration)
const cv::Mat CAMERA_MATRIX = (cv::Mat_<float>(3, 3) << 
    600, 0, 320,
    0, 600, 240,
    0, 0, 1);

const cv::Mat DIST_COEFFS = cv::Mat::zeros(5, 1, CV_32F); // Distortion coefficients (set to 0 for no distortion)

// Armor dimensions (in mm)
const float ARMOR_WIDTH = 135.0f;
const float ARMOR_HEIGHT = 125.0f;
const float ARMOR_THICKNESS = 20.0f;

const cv::Mat ARMOR_3D_POINTS = (cv::Mat_<float>(4, 3) <<
    -ARMOR_WIDTH / 2, -ARMOR_HEIGHT / 2, 0,
    ARMOR_WIDTH / 2, -ARMOR_HEIGHT / 2, 0,
    ARMOR_WIDTH / 2, ARMOR_HEIGHT / 2, 0,
    -ARMOR_WIDTH / 2, ARMOR_HEIGHT / 2, 0);

// Detection thresholds
const float HORIZONTAL_ANGLE_THRESHOLD = 25.0f; // Light bar horizontal angle threshold (degrees)
const float HORIZONTAL_ANGLE_THRESHOLD_RAD = HORIZONTAL_ANGLE_THRESHOLD * CV_PI / 180.0f;
const float NEARBY_LIGHT_BAR_THRESHOLD = 500.0f; // Light bar merging distance threshold (pixels)
const float LIGHT_BAR_IOU_THRESHOLD = 0.05f;     // Light bar merging IOU threshold
const float ARMOR_DISTANCE_RATIO_MIN = 0.6f;     // Armor light bar distance ratio range
const float ARMOR_DISTANCE_RATIO_MAX = 3.0f;
const float ARMOR_LENGTH_DIFF_RATIO = 0.5f;      // Armor light bar length difference ratio
const float ARMOR_ANGLE_DIFF_THRESHOLD = 20.0f * CV_PI / 180.0f; // Armor light bar angle difference threshold (radians)

// Kalman filter parameters
const float KF_PROCESS_NOISE = 0.02f;       // Process noise covariance
const float KF_MEASUREMENT_NOISE = 0.5f;    // Measurement noise covariance

// TTL communication settings
const int TTL_BAUDRATE = 115200;

#endif // CONFIG_H