lipan
29f1d45d66
算法更新: delivery v1.2.1、平整度v1.5、测距v2.2、整车配准v1.3 适配器: vehicle-registration 新增、各算法 manifest 和 adapter 更新 后端: taskCadFiles/source 字段迁移、derivedPointClouds 注册、取消任务联动 前端: ElapsedTime 时长显示、两步算法流程、canRun 逻辑修复 文档: 新增5份算法性能分析报告
118 lines
4.9 KiB
Python
118 lines
4.9 KiB
Python
"""Integration entry point — the contract for the software integrator.
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Three input files, one Excel output:
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--roi ROI JSON (6-key AABB crop hyper-parameters, in the cloud frame)
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--cloud full-vehicle point cloud PLY (may be multi-GB; cropped by streaming)
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--stp theoretical CAD STEP file (recorded for audit/traceability)
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--out output directory (gets eval_report.xlsx + intermediates)
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The cloud is cropped to the ROI inside the algorithm (no external
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pre-processing needed), the coupler panel is measured, and the two
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deflection angles + intermediate values are written to an .xlsx report.
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Example::
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python examples/run_integration.py \
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--roi examples/roi_train2_coupler.json \
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--cloud E:/BaiduNetdiskDownload/pointsCloud_data/train_2_1T.ply \
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--stp E:/BaiduNetdiskDownload/pointsCloud_data/m000004802418tc01_asm.stp \
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--out runs/train2_integration \
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--profile train2_coupler
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"""
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from __future__ import annotations
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import argparse
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import logging
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import math
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import time
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from pathlib import Path
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import numpy as np
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from coupler_panel.exceptions import CouplerError
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from coupler_panel.pipeline import run_coupler_measurement_pipeline
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from coupler_panel.reporting import InspectionItem, write_inspection_report
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from coupler_panel.roi_select import load_roi_json
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def _build_parser() -> argparse.ArgumentParser:
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p = argparse.ArgumentParser(description=__doc__)
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p.add_argument("--roi", type=Path, required=True, help="ROI JSON (6-key AABB).")
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p.add_argument("--cloud", type=Path, required=True, help="Full-vehicle point cloud PLY.")
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p.add_argument("--stp", type=Path, default=None, help="Theoretical CAD STEP (audit).")
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p.add_argument("--out", type=Path, required=True, help="Output directory.")
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p.add_argument("--profile", type=str, default="train2_coupler",
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help="Config profile (default: train2_coupler).")
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p.add_argument("--config", type=Path, default=None, help="Optional YAML override.")
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p.add_argument("--gt-theta-right", type=float, default=0.0,
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help="Known/expected theta_right (deg) for the error column. Default 0.")
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p.add_argument("--gt-theta-ref", type=float, default=0.0,
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help="Known/expected theta_ref (deg) for the error column. Default 0.")
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p.add_argument("--sample-id", type=str, default=None, help="Row label in the report.")
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return p
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def main(argv: list[str] | None = None) -> int:
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logging.basicConfig(level=logging.INFO, format="%(levelname)s %(name)s: %(message)s")
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log = logging.getLogger("run_integration")
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args = _build_parser().parse_args(argv)
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roi_spec = load_roi_json(args.roi)
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log.info("ROI bbox: x[%g,%g] y[%g,%g] z[%g,%g]",
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roi_spec.x_min, roi_spec.x_max, roi_spec.y_min,
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roi_spec.y_max, roi_spec.z_min, roi_spec.z_max)
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log.info("cloud: %s", args.cloud)
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log.info("stp (audit): %s", args.stp)
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sample_id = args.sample_id or args.cloud.stem
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t0 = time.perf_counter()
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try:
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result = run_coupler_measurement_pipeline(
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input_cloud=args.cloud,
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out_dir=args.out,
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config_path=args.config,
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profile=args.profile,
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roi_spec=roi_spec,
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progress=lambda s, f: log.info("[%5.1f%%] %s", f * 100, s),
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)
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except CouplerError as exc:
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log.error("measurement failed: %s", exc)
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return 2
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pipeline_seconds = time.perf_counter() - t0
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# --- Raw (pre-clamp) deflection angles from the fitted plane normal ----
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# Use the un-clamped normal so a tiny non-zero angle is NOT rounded to 0.
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n = np.asarray(result.report["plane"]["normal"], dtype=np.float64)
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theta_right_deg = math.degrees(math.atan2(n[1], n[0])) # 距纵向中心 (y)
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theta_ref_deg = math.degrees(math.atan2(n[2], n[0])) # 距参考面 (z)
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# --- Two inspection-item Excel reports (slope form value/L mm) ---------
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item_ref = InspectionItem(
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name="车钩面板距参考面的右偏转角（头车一位端处车钩）",
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theta_deg=theta_ref_deg,
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baseline_mm=375.0,
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tol_value_mm=0.8, # 公差 0.8/375mm
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)
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item_long = InspectionItem(
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name="车钩面板距纵向中心的右偏转角(头车一位端处车钩)",
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theta_deg=theta_right_deg,
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baseline_mm=700.0,
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tol_value_mm=1.0, # 公差 1/700mm
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)
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out_ref = write_inspection_report(item_ref, args.out / "report_ref_plane.xlsx")
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out_long = write_inspection_report(item_long, args.out / "report_longitudinal.xlsx")
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for it, p in ((item_ref, out_ref), (item_long, out_long)):
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log.info("%s | 测量结果=%s | 公差=%s | %s",
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it.name, it.measured_str, it.tolerance_str, it.conclusion_str)
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log.info("wrote %s , %s", out_ref, out_long)
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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