| name | audit-vision-config |
| description | Audit YAML, model paths, OpenVINO device selection, camera and serial settings, and camera/gimbal calibration values for this repository. Use when parameters appear ignored, deployment differs between machines, or pose and model behavior are suspicious. |
Audit Vision Config
Use this skill before changing a threshold, model, device, or calibration number. Report facts and mismatches; do not silently rewrite the user's config.
Workflow
- Identify the exact YAML file and the executable that consumes it. Run from the repository root because model and demo paths are relative.
- Compare the YAML against the actual reads in code, not just the README. Search
tools::read, yaml[, and tools::load in the relevant module.
- Check file existence and compatibility for
classify_model and yolov5_model_path; ensure detector_name selects the intended detector and device is available.
- Validate camera fields (
camera_name, vid_pid, exposure, gain/gamma, frame rate) and gimbal fields (com_port, optional CRC setting) without opening hardware. Hand hardware failures to $diagnose-camera-stack or $diagnose-gimbal-link.
- Validate calibration structure and units: 3x3
camera_matrix, distortion vector, 3x3 rotations, 3-vector translation, and consistent coordinate/frame conventions. Check rotation orthonormality and determinant near +1; flag implausible values rather than auto-correcting them.
- Check that OpenVINO lookup paths are consistent in root
CMakeLists.txt, tasks/auto_aim/CMakeLists.txt, and tasks/omniperception/CMakeLists.txt.
- Produce a report with
missing, unused, conditionally required, and suspicious value categories. A syntactically valid YAML file is not a valid deployment configuration.
Boundaries
- Never overwrite
configs/standard3.yaml or calibration values during an audit.
- Use a copied temporary config for CPU fallback or an experiment, and identify every changed key.
- Do not call a calibration result correct solely because reprojection runs; preserve the measured error and coordinate-frame assumptions.
Read config-map.md for project-specific keys and checks.
