172 lines
4.4 KiB
YAML
172 lines
4.4 KiB
YAML
# 列车测量任务配置文件
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# 点云文件路径（支持相对路径和绝对路径）
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# 相对路径：相对于本配置文件所在目录
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# 绝对路径：完整路径
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pointcloud_file: "../train_2_100M.py"
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# pointcloud_file: "../../../head_train_pointcloud/train_2_100M.ply"
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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: "plane_to_plane"
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enabled: true
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description: "测量侧门顶部到底部的距离"
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visualization_dir: "visualizations" # 可视化输出目录
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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: [-2500, 3358, -1545]
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bbox_max: [-1500, 3362, -1525]
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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: [-2500, 1180, -1621]
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bbox_max: [-1500, 1180, -1500]
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# 算法参数
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params:
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# 从源平面采样的点数
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sample_points: 100
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# RANSAC平面拟合参数
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ransac_threshold: 2.0 # 内点距离阈值(mm)
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ransac_max_iterations: 1000
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min_inlier_ratio: 0.6 # 最小内点比例
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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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visualization_dir: "visualizations"
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source_roi:
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bbox_min: [-14007, 1500, -800]
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bbox_max: [-14006, 1900, 800]
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target_roi:
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bbox_min: [12499, 1216, -1300]
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bbox_max: [12501, 3200, 1300]
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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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- name: "任务43_窗口下沿高度"
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type: "plane_to_plane"
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enabled: true
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description: "测量窗口下沿到地面的距离"
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visualization_dir: "visualizations"
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source_roi:
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bbox_min: [5562, 1982, 1672]
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bbox_max: [6772, 1983, 1677]
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target_roi:
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bbox_min: [-10222, 1180, -302]
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bbox_max: [12428, 1180, 302]
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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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- 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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visualization_dir: "visualizations"
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source_roi:
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bbox_min: [-1419, 4000, -237]
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bbox_max: [9030, 4000, 237]
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target_roi:
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bbox_min: [-10222, 1180, -302]
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bbox_max: [12428, 1180, 302]
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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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- 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: true
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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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visualization_dir: "visualizations" # 可视化输出目录
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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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visualization_dir: "visualizations" # 可视化输出目录
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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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visualization_dir: "visualizations"
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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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