538 lines
15 KiB
YAML
538 lines
15 KiB
YAML
# 列车测量任务配置文件 - 使用原始点云（未配准）
|
||
# 测试所有任务在原始点云上的表现
|
||
# 点云文件路径
|
||
pointcloud_file: "/home/suzhe/pcc/train_models/train_2_1T.ply"
|
||
|
||
# ROI提取配置 - 使用优化Grid索引
|
||
roi_extraction:
|
||
method: "grid" # 使用Grid网格索引
|
||
use_optimized: true # 使用优化版（numpy向量化，快75倍）
|
||
grid_size: 100.0 # 网格大小100mm
|
||
|
||
# 性能预期:
|
||
# - 索引构建: 223秒 (一次性)
|
||
# - ROI提取: 0.19秒/任务 (vs Linear的14秒/任务)
|
||
# - 20任务总时间: ~12分钟 (vs Linear的13分钟)
|
||
# - 提升: 约7% (1分钟)
|
||
|
||
# 测量任务列表
|
||
tasks:
|
||
- name: "任务21_侧门高度"
|
||
type: "line_to_plane" # TODO: 改为 line_to_line
|
||
enabled: true
|
||
description: "测量侧门顶部边缘线到底部边缘线的距离"
|
||
#2176.7 - 2176.4
|
||
theoretical_dimension: 2176.4
|
||
tolerance:
|
||
upper: 4
|
||
lower: 1
|
||
|
||
# 源边缘线ROI（侧门顶部边缘）
|
||
source_roi:
|
||
line_start: [-2460, 3356.43, -1511.26]
|
||
line_end: [-1821.05, 3356.43, -1511.26]
|
||
|
||
# 目标边缘线ROI（侧门底部边缘）
|
||
target_roi:
|
||
bbox_min: [-2500, 1177, -1621]
|
||
bbox_max: [-1500, 1183, -1500]
|
||
|
||
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2_车体长度"
|
||
type: "plane_to_plane"
|
||
enabled: true
|
||
description: "测量车体前后端面的距离"
|
||
theoretical_dimension: 26507 # 理论尺寸
|
||
tolerance: 10
|
||
# visualization_dir: "visualizations_0617"
|
||
source_roi:
|
||
bbox_min: [-14009, 1500, -900]
|
||
bbox_max: [-14005, 1700, 900]
|
||
|
||
target_roi:
|
||
bbox_min: [12497, 1070, -1300]
|
||
bbox_max: [12503, 1160, 1300]
|
||
|
||
params:
|
||
sample_points: 100
|
||
ransac_threshold: 0.1
|
||
ransac_max_iterations: 1000
|
||
min_inlier_ratio: 0.6
|
||
|
||
- name: "任务43_窗口下沿高度"
|
||
type: "line_to_plane" # TODO: 改为 line_to_plane
|
||
enabled: true
|
||
description: "测量窗口下沿边缘线到地面的距离"
|
||
theoretical_dimension: 803
|
||
tolerance:
|
||
upper: 6.5
|
||
lower: -4
|
||
|
||
# 源边缘线ROI（窗口下沿边缘）
|
||
source_roi:
|
||
line_start: [933.37,1983,-1676.62]
|
||
line_end: [2114.6,1983,-1676.62]
|
||
|
||
# 目标平面ROI（地面）
|
||
target_roi:
|
||
bbox_min: [-10222, 1179, -302]
|
||
bbox_max: [12428, 1181, 302]
|
||
|
||
params:
|
||
sample_points: 100
|
||
ransac_threshold: 0.5
|
||
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44_车顶高度"
|
||
type: "plane_to_plane"
|
||
enabled: true
|
||
description: "测量车顶到地面的距离"
|
||
theoretical_dimension: 2800 # 理论尺寸
|
||
tolerance:
|
||
upper: 7
|
||
lower: -1 # 公差 ±3mm
|
||
source_roi:
|
||
bbox_min: [2000, 3979, -14]
|
||
bbox_max: [5000, 3981, 14]
|
||
|
||
target_roi:
|
||
bbox_min: [100, 1177, -1510]
|
||
bbox_max: [11000, 1183, -1420]
|
||
|
||
params:
|
||
sample_points: 100
|
||
ransac_threshold: 0.1
|
||
ransac_max_iterations: 1000
|
||
min_inlier_ratio: 0.6
|
||
|
||
# - name: "任务3_边梁立面6点到z=0平面距离"
|
||
# type: "point_to_plane"
|
||
# enabled: false
|
||
# description: "测量边梁立面6个精确点到z=0平面的距离"
|
||
# mode: "exact_points"
|
||
# theoretical_dimension: 1445 # 理论尺寸
|
||
# tolerance:
|
||
# upper: 0
|
||
# lower: -2 # 公差 ±3mm
|
||
# # 目标点坐标（左右各3个点）
|
||
# target_points:
|
||
# - [-753.5, 1052.5, -1445]
|
||
# - [-753.5, 1052.5, 1445]
|
||
# - [3446.5, 1053, -1445]
|
||
# - [3446.5, 1053, 1445]
|
||
# - [8146.5, 1053, -1445]
|
||
# - [8146.5, 1053, 1445]
|
||
|
||
# # 平面参数 (ax + by + cz + d = 0)，z=0即c=1, d=0
|
||
# plane:
|
||
# a: 0
|
||
# b: 0
|
||
# c: 1
|
||
# d: 0
|
||
|
||
# # 最近点搜索半径(mm)
|
||
# search_radius: 10.0
|
||
|
||
- name: "任务15_侧墙z最大值点到z=0平面距离"
|
||
type: "point_to_plane"
|
||
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，计算到z=0平面的距离"
|
||
mode: "bbox_filtered"
|
||
theoretical_dimension: 1680 # 理论尺寸
|
||
tolerance:
|
||
upper: -2
|
||
lower: -6 # 公差 ±3mm
|
||
# 包围盒列表
|
||
bboxes:
|
||
- name: "左侧墙"
|
||
min: [-1468, 1899, -1680]
|
||
max: [12300, 1901, -1677]
|
||
- name: "右侧墙"
|
||
min: [-1468, 1899, 1677]
|
||
max: [12300, 1901, 1680]
|
||
|
||
# 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: 0
|
||
|
||
# - name: "任务4_纵向梁距离"
|
||
# type: "point_to_point"
|
||
# enabled: true
|
||
# description: "测量关于z=0对称的点对之间的距离（纵向梁）"
|
||
# theoretical_dimension: 2890 # 理论尺寸
|
||
# tolerance:
|
||
# upper: 0
|
||
# lower: -4 # 公差 ±3mm
|
||
# # 点对配置（使用任务3的6个点，配对测量）
|
||
# point_pairs:
|
||
# - name: "前端点对"
|
||
# point1: [-753.5, 1052.5, -1445]
|
||
# point2: [-753.5, 1052.5, 1445]
|
||
# - name: "中间点对"
|
||
# point1: [3446.5, 1053, -1445]
|
||
# point2: [3446.5, 1053, 1445]
|
||
# - name: "后端点对"
|
||
# point1: [8146.5, 1053, -1445]
|
||
# point2: [8146.5, 1053, 1445]
|
||
|
||
# # 最近点搜索半径(mm)
|
||
# search_radius: 10.0
|
||
|
||
- name: "任务1_转向架距离"
|
||
type: "point_to_point + hole_center"
|
||
enabled: true
|
||
description: "测量两对定位孔的x距离，作为转向架间距离"
|
||
theoretical_dimension: 17800
|
||
tolerance: 2
|
||
boxes:
|
||
- name: "左前"
|
||
min: [-8944,1020,-1507]
|
||
max: [-8846,1040,-1401]
|
||
- name: "右前"
|
||
min: [-8947,1020,1400]
|
||
max: [-8847,1040,1507]
|
||
- name: "左后"
|
||
min: [8850,1020,-1551]
|
||
max: [8955,1040,-1450]
|
||
- name: "右后"
|
||
min: [8850,1020,1450]
|
||
max: [8950,1040,1552]
|
||
|
||
# - name: "任务6_转向架未加工支撑面到参考线距离"
|
||
# type: "plane_to_plane + 4_hole_center"
|
||
# enabled: false
|
||
# description: "四个孔定位参考线平面，转向架支撑面用ROI框定"
|
||
# theoretical_dimension: 65
|
||
# tolerance:
|
||
# upper: 8.5
|
||
# lower: -3
|
||
# visualization_dir: "visualizations_0617"
|
||
# boxes:
|
||
# - name: "左上孔"
|
||
# min: [11631,1010,155]
|
||
# max: [11674,1055,210]
|
||
# - name: "右上孔"
|
||
# min: [11631,1010,-210]
|
||
# max: [11674,1055,-155]
|
||
# - name: "左下孔"
|
||
# min: [11631,812,155]
|
||
# max: [11674,857,205]
|
||
# - name: "右下孔"
|
||
# min: [11631,812,-205]
|
||
# max: [11674,857,-155]
|
||
# - name: "左加工面"
|
||
# min: [-9189,998,1405]
|
||
# max: [-8993,1002,1501]
|
||
# - name: "右加工面"
|
||
# min: [-9191,998,-1500]
|
||
# max: [-8990,1002,-1410]
|
||
# params:
|
||
# sample_points: 100
|
||
# ransac_threshold: 0.1
|
||
# ransac_max_iterations: 1000
|
||
# min_inlier_ratio: 0.6
|
||
|
||
- name: "任务7_边梁下平面到参考线的距离"
|
||
type: "plane_to_plane + 4_hole_center"
|
||
enabled: true
|
||
description: "四个孔定位参考平面，边梁下平面用ROI指定"
|
||
theoretical_dimension: 85
|
||
tolerance:
|
||
upper: 8.5
|
||
lower: -3
|
||
# visualization_dir: "visualizations_0617"
|
||
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: "左平面"
|
||
min: [8847,1017,-1629]
|
||
max: [8876,1023,-1548]
|
||
- name: "右平面"
|
||
min: [8862,1017,1593]
|
||
max: [8944,1023,1624]
|
||
params:
|
||
sample_points: 100
|
||
ransac_threshold: 0.1
|
||
ransac_max_iterations: 1000
|
||
min_inlier_ratio: 0.6
|
||
|
||
- name: "任务18_门口宽度"
|
||
type: "plane_to_plane"
|
||
enabled: true
|
||
description: "乘客门口宽度"
|
||
theoretical_dimension: 1070 # 理论尺寸
|
||
tolerance:
|
||
upper: 3
|
||
lower: 0
|
||
# 源平面（采样点的来源）
|
||
source_roi:
|
||
bbox_min: [-2552, 1390, 1402]
|
||
bbox_max: [-2551, 3080, 1577]
|
||
|
||
# 目标平面（测量距离的目标）
|
||
target_roi:
|
||
bbox_min: [-1482, 1400, 1513]
|
||
bbox_max: [-1481, 3120, 1591]
|
||
params:
|
||
sample_points: 100
|
||
ransac_threshold: 0.1
|
||
ransac_max_iterations: 1000
|
||
min_inlier_ratio: 0.6
|
||
check_width_variation: true # 启用宽度差值检查（任务19）
|
||
width_variation_tolerance: 2.0 # 差值公差 ±2mm
|
||
|
||
|
||
- name: "任务28_端门口宽度"
|
||
type: "plane_to_plane"
|
||
description: "后部门口宽度"
|
||
theoretical_dimension: 900 # 理论尺寸
|
||
tolerance:
|
||
upper: 2
|
||
lower: 0
|
||
# 源平面（采样点的来源）
|
||
source_roi:
|
||
bbox_min: [12428, 1244, -451]
|
||
bbox_max: [12480, 3070, -449]
|
||
|
||
# 目标平面（测量距离的目标）
|
||
target_roi:
|
||
bbox_min: [12428, 1278, 449]
|
||
bbox_max: [12480, 3090, 451]
|
||
params:
|
||
sample_points: 100
|
||
ransac_threshold: 0.1
|
||
ransac_max_iterations: 1000
|
||
min_inlier_ratio: 0.6
|
||
|
||
- name: "任务29_端门口高度"
|
||
type: "plane_to_plane"
|
||
description: "后部门口高度"
|
||
theoretical_dimension: 2050 # 理论尺寸
|
||
tolerance:
|
||
upper: 5
|
||
lower: 0
|
||
# 源平面（采样点的来源）
|
||
source_roi:
|
||
bbox_min: [12424, 3229, -330]
|
||
bbox_max: [12486, 3231, 330]
|
||
|
||
# 目标平面（测量距离的目标）
|
||
target_roi:
|
||
bbox_min: [12440, 1179, -440]
|
||
bbox_max: [12490, 1181, 440]
|
||
params:
|
||
sample_points: 100
|
||
ransac_threshold: 0.05
|
||
ransac_max_iterations: 1000
|
||
min_inlier_ratio: 0.6
|
||
|
||
- name: "任务32_司机室登车门门口宽度"
|
||
type: "line_to_line" # TODO: 改为 line_to_line
|
||
enabled: true
|
||
description: "司机室门口宽度（左右两条边缘线之间的距离）"
|
||
# 566 - 566.6
|
||
theoretical_dimension: 566.6
|
||
tolerance:
|
||
upper: 3
|
||
lower: 0
|
||
|
||
# 源边缘线ROI（门口左侧边缘）
|
||
source_roi:
|
||
line_start: [-8177.85,1650.33,-1541.48]
|
||
line_end: [-8177.85,2448.88,-1499.63]
|
||
|
||
# 目标边缘线ROI（门口右侧边缘）
|
||
target_roi:
|
||
line_start: [-8744.48,1727.71,-1537.42]
|
||
line_end: [-8744.48,2421.28,-1501.08]
|
||
|
||
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33_司机室登车门门口高度"
|
||
type: "line_to_line" # TODO: 改为 line_to_line
|
||
enabled: true
|
||
description: "司机室门口高度（上下两条边缘线之间的距离）"
|
||
# 1687 - 1687.1
|
||
theoretical_dimension: 1687.1
|
||
tolerance:
|
||
upper: 3
|
||
lower: 0
|
||
|
||
# 源边缘线ROI（门口上边缘）
|
||
source_roi:
|
||
line_start: [-8630.24,2994.7,-1467.83]
|
||
line_end: [-8280.89,2994.7,-1467.83]
|
||
|
||
# 目标边缘线ROI（门口下边缘）
|
||
target_roi:
|
||
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
|
||
|
||
|
||
|
||
|