148 lines
6.0 KiB
YAML
148 lines
6.0 KiB
YAML
# Default configuration for coupler panel measurement pipeline.
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# All numeric units in mm / degree unless otherwise stated.
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# Override fields by passing a dict or a YAML path with the same nested shape.
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schema_version: "1.0"
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# --- CAD parsing & GT extraction --------------------------------------------
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cad:
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# OpenCASCADE tessellation quality.
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linear_deflection_mm: 0.5
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angular_deflection_rad: 0.1
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# Hole topology classification.
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# The four locating holes are expected to be small and equal-radius;
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# the central pass-through hole is expected to be much larger.
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locating_hole_radius_mm: [4.0, 12.0] # [min, max] of expected locating hole radius
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central_hole_radius_min_mm: 20.0 # any circle larger than this is treated as the centre hole
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rectangle_aspect_tol: 0.15 # tolerance for "the 4 hole centres form a rectangle"
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# --- Sampling ---------------------------------------------------------------
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sampling:
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method: poisson_disk # uniform_area | poisson_disk | adaptive | grid_spacing
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# Use either spacing_mm OR num_points; if both set, spacing_mm wins.
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spacing_mm: 1.0
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num_points: 100000
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seed: 42
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adaptive:
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curvature_weight: 1.0
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min_spacing_factor: 0.25 # smallest spacing = spacing_mm * factor
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max_spacing_factor: 4.0
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# --- Simulated scan (optional) ----------------------------------------------
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scan_simulator:
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enabled: false
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view_origin: [10000.0, 0.0, 0.0] # camera position in CAD frame, mm
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hpr_radius_mm: 50000.0 # hidden-point-removal radius
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# --- Panel deflection injection (the SIGNAL the algorithm should measure) --
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# This rotates the panel (and its 4 locating holes) by a known small angle.
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# After running the pipeline, theta_right_deg / theta_ref_deg in the result
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# should match these values within the algorithm's recovery accuracy.
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panel_deflection:
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enabled: false
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theta_right_deg: 0.0 # atan2(n_y, n_x) target (rotation around z)
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theta_ref_deg: 0.0 # atan2(n_z, n_x) target (rotation around -y)
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# --- Synthetic noise --------------------------------------------------------
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# Realistic LIDAR / structured-light noise on a ~2 m × 2 m panel is ≈ 50-80
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# µm = 0.05-0.08 mm. Larger sigma is mostly to test robustness, not to
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# match a real sensor.
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noise:
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enabled: true
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sigma_mm: 0.05
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mode: isotropic # isotropic | along_normal
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seed: 43
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# --- Synthetic scan-pose perturbation ---------------------------------------
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# Mounting / scanner-stage jitter. 4-hole Kabsch should cancel this; if it
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# leaks into the final angles that's a registration error, not a measurement
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# of panel deflection. Set rotation_deg=0, translation_mm=0 for "ideal pose"
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# experiments that isolate the deflection-recovery accuracy.
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transform:
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enabled: true
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rotation_deg: 0.5 # magnitude; axis is randomised
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rotation_axis: random # random | x | y | z | [ax, ay, az]
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translation_mm: 2.0 # magnitude; direction is randomised
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translation_dir: random
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seed: 44
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# --- Denoise pipeline -------------------------------------------------------
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# Steps are executed in the listed order. Set steps to [] to disable.
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denoise:
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steps:
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- type: passthrough
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bbox_padding_mm: 50.0
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- type: voxel
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voxel_mm: 0.5
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- type: statistical
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nb_neighbors: 30
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std_ratio: 2.0
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- type: radius
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nb_points: 8
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radius_mm: 2.0
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# Optional MLS smoothing (requires open3d ≥ 0.18 with ml extras).
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smoothing:
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enabled: false
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search_radius_mm: 2.0
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polynomial_order: 2
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# --- Registration -----------------------------------------------------------
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registration:
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method: kabsch_four_holes # only this method is implemented; documented & enforced
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# The four GT hole centres come from CAD; the four scan hole centres come
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# from the detection module. Pairing is by greedy nearest-neighbour after
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# a coarse PCA-based pre-alignment of the centroid.
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pre_align: pca_centroid
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refuse_if_residual_above_mm: 5.0 # quality flag if RMS pairing residual exceeds this
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# --- 4-hole detection in point cloud ----------------------------------------
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detection:
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# Local panel-plane projection.
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panel_normal_seed: from_cad # from_cad | pca | given
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panel_normal_pca_kth: 1 # use k-th smallest PCA eigenvector as panel normal
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# 2D occupancy grid.
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grid_pixel_mm: 0.3
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panel_min_area_ratio: 0.4 # largest connected component must be ≥ this fraction of bbox
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hole_min_area_mm2: 10.0
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hole_max_area_mm2: 1500.0
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closing_iters: 2 # 原来没有，加形态学闭运算填补边界断裂
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fill_bg_below_mm2: 5.0 # 原来没有，填充小碎片
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# Circle fitting on hole boundary.
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circle_fit:
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method: algebraic_then_lsq # algebraic_then_lsq | hyper | taubin
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inlier_residual_mm: 0.5
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# Selection.
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select_top_k_by_radius_match: 4
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rectangle_aspect_tol: 0.20
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# --- Panel ROI extraction ---------------------------------------------------
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roi:
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hole_dilate_mm: 3.0 # exclude points within (hole_radius + dilate)
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central_hole_dilate_mm: 5.0
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edge_buffer_mm: 5.0 # shrink ROI rectangle inward by this
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chamfer_normal_dot_min: 0.85 # exclude points whose normal deviates more than acos(0.85) from panel normal
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outlier_z_score: 3.0
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# --- Plane fit --------------------------------------------------------------
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plane_fit:
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method: ransac_svd
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ransac_iterations: 200
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ransac_inlier_thresh_mm: auto # auto = 3*sigma_mm
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min_inlier_ratio: 0.6
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enforce_nx_positive: true
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# --- Metrics ----------------------------------------------------------------
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metrics:
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# If your right axis is +y, leave this 1. If right is -y, set to -1.
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right_axis_sign: 1
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# Angles smaller than this are clamped to 0 (purely cosmetic; raw value is
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# always in the report).
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angle_clamp_deg: 0.0
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# --- Output / artifacts -----------------------------------------------------
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artifacts:
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save_intermediate: true
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ply_format: binary # binary | ascii
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image_dpi: 150
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heatmap_colormap: viridis
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