feat: update algorithm integrations and point cloud overlays
This commit is contained in:
537
alg/train_measurement_system_v3.2_0629/config/measurements.yaml
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537
alg/train_measurement_system_v3.2_0629/config/measurements.yaml
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# 列车测量任务配置文件 - 使用原始点云（未配准）
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# 测试所有任务在原始点云上的表现
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# 点云文件路径
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pointcloud_file: "/home/suzhe/pcc/train_models/train_2_1T.ply"
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# ROI提取配置 - 使用优化Grid索引
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roi_extraction:
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method: "grid" # 使用Grid网格索引
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use_optimized: true # 使用优化版（numpy向量化，快75倍）
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grid_size: 100.0 # 网格大小100mm
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# 性能预期:
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# - 索引构建: 223秒 (一次性)
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# - ROI提取: 0.19秒/任务 (vs Linear的14秒/任务)
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# - 20任务总时间: ~12分钟 (vs Linear的13分钟)
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# - 提升: 约7% (1分钟)
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# 测量任务列表
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tasks:
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- name: "任务21_侧门高度"
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type: "line_to_plane" # TODO: 改为 line_to_line
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enabled: true
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description: "测量侧门顶部边缘线到底部边缘线的距离"
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#2176.7 - 2176.4
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theoretical_dimension: 2176.4
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tolerance:
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upper: 4
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lower: 1
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# 源边缘线ROI（侧门顶部边缘）
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source_roi:
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line_start: [-2460, 3356.43, -1511.26]
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line_end: [-1821.05, 3356.43, -1511.26]
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# 目标边缘线ROI（侧门底部边缘）
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target_roi:
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bbox_min: [-2500, 1177, -1621]
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bbox_max: [-1500, 1183, -1500]
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params:
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sample_points: 100
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ransac_threshold: 2.0
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ransac_max_iterations: 1000
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min_inlier_ratio: 0.6
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roi_distance_threshold: 0.02 # 精筛选距离阈值(mm)
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- name: "任务2_车体长度"
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type: "plane_to_plane"
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enabled: true
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description: "测量车体前后端面的距离"
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theoretical_dimension: 26507 # 理论尺寸
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tolerance: 10
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# visualization_dir: "visualizations_0617"
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source_roi:
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bbox_min: [-14009, 1500, -900]
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bbox_max: [-14005, 1700, 900]
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target_roi:
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bbox_min: [12497, 1070, -1300]
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bbox_max: [12503, 1160, 1300]
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params:
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sample_points: 100
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ransac_threshold: 0.1
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ransac_max_iterations: 1000
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min_inlier_ratio: 0.6
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- name: "任务43_窗口下沿高度"
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type: "line_to_plane" # TODO: 改为 line_to_plane
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enabled: true
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description: "测量窗口下沿边缘线到地面的距离"
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theoretical_dimension: 803
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tolerance:
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upper: 6.5
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lower: -4
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# 源边缘线ROI（窗口下沿边缘）
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source_roi:
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line_start: [933.37,1983,-1676.62]
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line_end: [2114.6,1983,-1676.62]
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# 目标平面ROI（地面）
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target_roi:
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bbox_min: [-10222, 1179, -302]
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bbox_max: [12428, 1181, 302]
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params:
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sample_points: 100
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ransac_threshold: 0.5
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ransac_max_iterations: 1000
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min_inlier_ratio: 0.6
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roi_distance_threshold: 0.02 # 精筛选距离阈值(mm)
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- name: "任务44_车顶高度"
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type: "plane_to_plane"
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enabled: true
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description: "测量车顶到地面的距离"
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theoretical_dimension: 2800 # 理论尺寸
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tolerance:
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upper: 7
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lower: -1 # 公差 ±3mm
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source_roi:
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bbox_min: [2000, 3979, -14]
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bbox_max: [5000, 3981, 14]
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target_roi:
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bbox_min: [100, 1177, -1510]
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bbox_max: [11000, 1183, -1420]
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params:
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sample_points: 100
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ransac_threshold: 0.1
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ransac_max_iterations: 1000
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min_inlier_ratio: 0.6
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# - name: "任务3_边梁立面6点到z=0平面距离"
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# type: "point_to_plane"
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# enabled: false
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# description: "测量边梁立面6个精确点到z=0平面的距离"
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# mode: "exact_points"
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# theoretical_dimension: 1445 # 理论尺寸
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# tolerance:
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# upper: 0
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# lower: -2 # 公差 ±3mm
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# # 目标点坐标（左右各3个点）
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# target_points:
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# - [-753.5, 1052.5, -1445]
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# - [-753.5, 1052.5, 1445]
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# - [3446.5, 1053, -1445]
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# - [3446.5, 1053, 1445]
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# - [8146.5, 1053, -1445]
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# - [8146.5, 1053, 1445]
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# # 平面参数 (ax + by + cz + d = 0)，z=0即c=1, d=0
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# plane:
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# a: 0
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# b: 0
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# c: 1
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# d: 0
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# # 最近点搜索半径(mm)
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# search_radius: 10.0
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- name: "任务15_侧墙z最大值点到z=0平面距离"
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type: "point_to_plane"
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enabled: true
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description: "从两个包围盒提取侧墙点云，选取z绝对值最大的10个点，计算到z=0平面的距离"
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mode: "bbox_filtered"
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theoretical_dimension: 1680 # 理论尺寸
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tolerance:
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upper: -2
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lower: -6 # 公差 ±3mm
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# 包围盒列表
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bboxes:
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- name: "左侧墙"
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min: [-1468, 1899, -1680]
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max: [12300, 1901, -1677]
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- name: "右侧墙"
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min: [-1468, 1899, 1677]
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max: [12300, 1901, 1680]
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# 过滤条件
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filter:
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type: "max_abs_coordinate"
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axis: "z"
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top_n: 10
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# 平面参数 (z=0)
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plane:
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a: 0
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b: 0
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c: 1
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d: 0
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# - name: "任务4_纵向梁距离"
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# type: "point_to_point"
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# enabled: true
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# description: "测量关于z=0对称的点对之间的距离（纵向梁）"
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# theoretical_dimension: 2890 # 理论尺寸
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# tolerance:
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# upper: 0
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# lower: -4 # 公差 ±3mm
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# # 点对配置（使用任务3的6个点，配对测量）
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# point_pairs:
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# - name: "前端点对"
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# point1: [-753.5, 1052.5, -1445]
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# point2: [-753.5, 1052.5, 1445]
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# - name: "中间点对"
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# point1: [3446.5, 1053, -1445]
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# point2: [3446.5, 1053, 1445]
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# - name: "后端点对"
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# point1: [8146.5, 1053, -1445]
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# point2: [8146.5, 1053, 1445]
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# # 最近点搜索半径(mm)
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# search_radius: 10.0
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- name: "任务1_转向架距离"
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type: "point_to_point + hole_center"
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enabled: true
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description: "测量两对定位孔的x距离，作为转向架间距离"
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theoretical_dimension: 17800
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tolerance: 2
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boxes:
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- name: "左前"
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min: [-8944,1020,-1507]
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max: [-8846,1040,-1401]
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- name: "右前"
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min: [-8947,1020,1400]
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max: [-8847,1040,1507]
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- name: "左后"
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min: [8850,1020,-1551]
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max: [8955,1040,-1450]
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- name: "右后"
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min: [8850,1020,1450]
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max: [8950,1040,1552]
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# - name: "任务6_转向架未加工支撑面到参考线距离"
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# type: "plane_to_plane + 4_hole_center"
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# enabled: false
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# description: "四个孔定位参考线平面，转向架支撑面用ROI框定"
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# theoretical_dimension: 65
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# tolerance:
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# upper: 8.5
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# lower: -3
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# visualization_dir: "visualizations_0617"
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# boxes:
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# - name: "左上孔"
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# min: [11631,1010,155]
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# max: [11674,1055,210]
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# - name: "右上孔"
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# min: [11631,1010,-210]
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# max: [11674,1055,-155]
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# - name: "左下孔"
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# min: [11631,812,155]
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# max: [11674,857,205]
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# - name: "右下孔"
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# min: [11631,812,-205]
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# max: [11674,857,-155]
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# - name: "左加工面"
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# min: [-9189,998,1405]
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# max: [-8993,1002,1501]
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# - name: "右加工面"
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# min: [-9191,998,-1500]
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# max: [-8990,1002,-1410]
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# params:
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# sample_points: 100
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# ransac_threshold: 0.1
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# ransac_max_iterations: 1000
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# min_inlier_ratio: 0.6
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- name: "任务7_边梁下平面到参考线的距离"
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type: "plane_to_plane + 4_hole_center"
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enabled: true
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description: "四个孔定位参考平面，边梁下平面用ROI指定"
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theoretical_dimension: 85
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tolerance:
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upper: 8.5
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lower: -3
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# visualization_dir: "visualizations_0617"
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boxes:
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- name: "左上孔"
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min: [11631,1015,159]
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max: [11674,1050,206]
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- name: "右上孔"
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min: [11631,1015,-201]
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max: [11674,1050,-157]
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- name: "左下孔"
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min: [11631,817,160]
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max: [11674,852,200]
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- name: "右下孔"
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min: [11631,817,-200]
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max: [11674,852,-160]
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- name: "左平面"
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min: [8847,1017,-1629]
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max: [8876,1023,-1548]
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- name: "右平面"
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min: [8862,1017,1593]
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max: [8944,1023,1624]
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params:
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sample_points: 100
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ransac_threshold: 0.1
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ransac_max_iterations: 1000
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min_inlier_ratio: 0.6
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- name: "任务18_门口宽度"
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type: "plane_to_plane"
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enabled: true
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description: "乘客门口宽度"
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theoretical_dimension: 1070 # 理论尺寸
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tolerance:
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upper: 3
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lower: 0
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# 源平面（采样点的来源）
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source_roi:
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bbox_min: [-2552, 1390, 1402]
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bbox_max: [-2551, 3080, 1577]
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# 目标平面（测量距离的目标）
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target_roi:
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bbox_min: [-1482, 1400, 1513]
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bbox_max: [-1481, 3120, 1591]
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params:
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sample_points: 100
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ransac_threshold: 0.1
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ransac_max_iterations: 1000
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min_inlier_ratio: 0.6
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check_width_variation: true # 启用宽度差值检查（任务19）
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width_variation_tolerance: 2.0 # 差值公差 ±2mm
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- name: "任务28_端门口宽度"
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type: "plane_to_plane"
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description: "后部门口宽度"
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theoretical_dimension: 900 # 理论尺寸
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tolerance:
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upper: 2
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lower: 0
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# 源平面（采样点的来源）
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source_roi:
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bbox_min: [12428, 1244, -451]
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bbox_max: [12480, 3070, -449]
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# 目标平面（测量距离的目标）
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target_roi:
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bbox_min: [12428, 1278, 449]
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bbox_max: [12480, 3090, 451]
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params:
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sample_points: 100
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ransac_threshold: 0.1
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ransac_max_iterations: 1000
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min_inlier_ratio: 0.6
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- name: "任务29_端门口高度"
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type: "plane_to_plane"
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description: "后部门口高度"
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theoretical_dimension: 2050 # 理论尺寸
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tolerance:
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upper: 5
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lower: 0
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# 源平面（采样点的来源）
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source_roi:
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bbox_min: [12424, 3229, -330]
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bbox_max: [12486, 3231, 330]
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# 目标平面（测量距离的目标）
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target_roi:
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bbox_min: [12440, 1179, -440]
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bbox_max: [12490, 1181, 440]
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params:
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sample_points: 100
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ransac_threshold: 0.05
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ransac_max_iterations: 1000
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min_inlier_ratio: 0.6
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- name: "任务32_司机室登车门门口宽度"
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type: "line_to_line" # TODO: 改为 line_to_line
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enabled: true
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description: "司机室门口宽度（左右两条边缘线之间的距离）"
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# 566 - 566.6
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theoretical_dimension: 566.6
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tolerance:
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upper: 3
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||||
lower: 0
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||||
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||||
# 源边缘线ROI（门口左侧边缘）
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source_roi:
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line_start: [-8177.85,1650.33,-1541.48]
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line_end: [-8177.85,2448.88,-1499.63]
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# 目标边缘线ROI（门口右侧边缘）
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target_roi:
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line_start: [-8744.48,1727.71,-1537.42]
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line_end: [-8744.48,2421.28,-1501.08]
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||||
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||||
params:
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sample_points: 100
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ransac_threshold: 2.0
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||||
ransac_max_iterations: 1000
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||||
min_inlier_ratio: 0.6
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||||
roi_distance_threshold: 0.02 # 精筛选距离阈值(mm)
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||||
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- name: "任务33_司机室登车门门口高度"
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type: "line_to_line" # TODO: 改为 line_to_line
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enabled: true
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description: "司机室门口高度（上下两条边缘线之间的距离）"
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||||
# 1687 - 1687.1
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theoretical_dimension: 1687.1
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||||
tolerance:
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||||
upper: 3
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||||
lower: 0
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||||
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||||
# 源边缘线ROI（门口上边缘）
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source_roi:
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||||
line_start: [-8630.24,2994.7,-1467.83]
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||||
line_end: [-8280.89,2994.7,-1467.83]
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||||
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||||
# 目标边缘线ROI（门口下边缘）
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target_roi:
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||||
line_start: [-8625.48,1309.87,-1555.36]
|
||||
line_end: [-8301.7,1309.87,-1555.36]
|
||||
|
||||
params:
|
||||
sample_points: 100
|
||||
ransac_threshold: 2.0
|
||||
ransac_max_iterations: 1000
|
||||
min_inlier_ratio: 0.6
|
||||
roi_distance_threshold: 0.02 # 精筛选距离阈值(mm)
|
||||
|
||||
# - name: "任务14_侧墙相对纵梁的角度位置"
|
||||
# type: "point_to_plane"
|
||||
# description: "包围盒提取窗口上沿，选取z绝对值最大的10个点，计算到z=1445平面的距离"
|
||||
# mode: "bbox_filtered"
|
||||
# theoretical_dimension: 179.3 # 理论尺寸
|
||||
# tolerance:
|
||||
# upper: 2
|
||||
# lower: -4 # 公差 ±3mm
|
||||
# # 包围盒列表
|
||||
# bboxes:
|
||||
# - name: "左窗口上沿"
|
||||
# min: [1136, 2700, 1620]
|
||||
# max: [1713, 2745, 1630]
|
||||
# # 过滤条件
|
||||
# filter:
|
||||
# type: "max_abs_coordinate"
|
||||
# axis: "z"
|
||||
# top_n: 10
|
||||
|
||||
# # 平面参数 (z=0)
|
||||
# plane:
|
||||
# a: 0
|
||||
# b: 0
|
||||
# c: 1
|
||||
# d: -1445
|
||||
|
||||
- name: "任务30_参考线到司机室辅助孔距离"
|
||||
type: "point_to_plane + 4_hole_center + 1_hole_center"
|
||||
enabled: true
|
||||
description: "4孔定参考线平面，1孔定辅助孔位置，点到面"
|
||||
theoretical_dimension: 308.5
|
||||
tolerance: 2
|
||||
boxes:
|
||||
- name: "左上孔"
|
||||
min: [11631,1015,159]
|
||||
max: [11674,1050,206]
|
||||
- name: "右上孔"
|
||||
min: [11631,1015,-201]
|
||||
max: [11674,1050,-157]
|
||||
- name: "左下孔"
|
||||
min: [11631,817,160]
|
||||
max: [11674,852,200]
|
||||
- name: "右下孔"
|
||||
min: [11631,817,-200]
|
||||
max: [11674,852,-160]
|
||||
- name: "辅助孔"
|
||||
min: [-13308, 620, -5]
|
||||
max: [-13296, 630, 5]
|
||||
|
||||
- name: "任务16_车体最大宽度"
|
||||
type: "point_to_point"
|
||||
enabled: true
|
||||
description: "从两个包围盒提取侧墙点云，选取z绝对值最大的10个点，他们z距离之差"
|
||||
mode: "bbox_filtered"
|
||||
theoretical_dimension: 3360
|
||||
tolerance:
|
||||
upper: -4
|
||||
lower: -10
|
||||
# 包围盒列表
|
||||
bboxes:
|
||||
- name: "左侧墙"
|
||||
min: [-1468, 1890, -1680]
|
||||
max: [12300, 1910, -1677]
|
||||
- name: "右侧墙"
|
||||
min: [-1468, 1890, 1677]
|
||||
max: [12300, 1900, 1680]
|
||||
|
||||
# 过滤条件
|
||||
filter:
|
||||
type: "max_abs_coordinate"
|
||||
axis: "z"
|
||||
top_n: 10
|
||||
|
||||
- name: "任务47_内端墙门口高"
|
||||
type: "plane_to_plane"
|
||||
enabled: true
|
||||
description: "车体内部神秘横梁高度"
|
||||
theoretical_dimension: 2200
|
||||
tolerance:
|
||||
upper: 2
|
||||
lower: 0
|
||||
# 源平面（采样点的来源）
|
||||
source_roi:
|
||||
bbox_min: [-98, 3379, -1000]
|
||||
bbox_max: [-77, 3381, 1000]
|
||||
|
||||
# 目标平面（测量距离的目标）
|
||||
target_roi:
|
||||
bbox_min: [-1000, 1179, -300]
|
||||
bbox_max: [1000, 1181, 300]
|
||||
params:
|
||||
sample_points: 100
|
||||
ransac_threshold: 0.1
|
||||
ransac_max_iterations: 1000
|
||||
min_inlier_ratio: 0.6
|
||||
|
||||
- name: "任务46_车体横断面对角线差值"
|
||||
type: "point_to_point"
|
||||
enabled: true
|
||||
description: "对角线距离作差"
|
||||
theoretical_dimension: 0 # 理论差值为0
|
||||
tolerance: 0.1
|
||||
# visualization_dir: "visualizations"
|
||||
|
||||
mode: "exact_points"
|
||||
|
||||
# 定义两条对角线的点对
|
||||
point_pairs:
|
||||
- name: "对角线1"
|
||||
point1: [3500, 1180, 1541.42] # 左下角
|
||||
point2: [3500, 2961.83, -1543.02] # 右上角
|
||||
|
||||
- name: "对角线2"
|
||||
point1: [3500, 1180, -1541.42] # 右下角
|
||||
point2: [3500, 2961.85, 1543.02] # 左上角
|
||||
|
||||
# 查找最近点的搜索半径（mm）
|
||||
search_radius: 10.0
|
||||
|
||||
# 差值比较配置
|
||||
compare_mode: "difference" # 启用差值比较模式
|
||||
compare_pairs: [0, 1] # 比较对角线1和对角线2的距离
|
||||
difference_tolerance: 0.1 # 差值阈值：2mm
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user