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
98 lines
3.3 KiB
Python
98 lines
3.3 KiB
Python
"""Region-of-interest helpers driven by an external JSON file.
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Supports a single axis-aligned bounding box (AABB) in the CAD coordinate
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frame, units millimetres. The AABB is used in two places:
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1. ``preprocess_point_cloud`` applies it as an early passthrough crop
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(performance + noise reduction).
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2. ``frame.build_bottom_roi_mask`` consumes the same AABB to build the
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canonical ROI mask used by the deflection stages.
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"""
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from __future__ import annotations
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import json
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from pathlib import Path
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from typing import Any
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import numpy as np
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from .exceptions import InvalidPointCloudError
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_REQUIRED_KEYS = ("x_min", "x_max", "y_min", "y_max", "z_min", "z_max")
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def load_roi_aabb(path: str | Path) -> dict[str, float]:
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"""Load an AABB ROI specification from a JSON file.
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Returns a normalised dict with the six float fields. Raises
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``InvalidPointCloudError`` for missing keys, non-numeric values, or
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inverted ranges (min >= max).
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"""
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path = Path(path)
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try:
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raw = json.loads(path.read_text(encoding="utf-8"))
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except (OSError, json.JSONDecodeError) as exc:
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raise InvalidPointCloudError(f"Failed to read ROI JSON {path}: {exc}") from exc
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if not isinstance(raw, dict):
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raise InvalidPointCloudError(
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f"ROI JSON {path} must be a JSON object with AABB fields."
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)
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aabb: dict[str, float] = {}
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for key in _REQUIRED_KEYS:
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if key not in raw:
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raise InvalidPointCloudError(
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f"ROI JSON {path} missing required key '{key}'."
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)
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try:
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aabb[key] = float(raw[key])
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except (TypeError, ValueError) as exc:
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raise InvalidPointCloudError(
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f"ROI JSON {path} key '{key}' is not numeric: {raw[key]!r}"
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) from exc
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_validate_aabb(aabb, source=str(path))
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return aabb
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def normalize_aabb(aabb: dict[str, Any]) -> dict[str, float]:
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"""Validate and coerce an in-memory AABB dict to ``{key: float}``."""
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coerced: dict[str, float] = {}
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for key in _REQUIRED_KEYS:
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if key not in aabb:
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raise InvalidPointCloudError(f"AABB dict missing required key '{key}'.")
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coerced[key] = float(aabb[key])
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_validate_aabb(coerced, source="<inline>")
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return coerced
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def _validate_aabb(aabb: dict[str, float], *, source: str) -> None:
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for axis in ("x", "y", "z"):
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lo = aabb[f"{axis}_min"]
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hi = aabb[f"{axis}_max"]
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if not (np.isfinite(lo) and np.isfinite(hi)):
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raise InvalidPointCloudError(
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f"AABB from {source} has non-finite bound on axis {axis}."
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)
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if lo >= hi:
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raise InvalidPointCloudError(
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f"AABB from {source} has inverted range on axis {axis}: "
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f"{axis}_min={lo} >= {axis}_max={hi}."
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)
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def apply_passthrough(points: np.ndarray, aabb: dict[str, float]) -> np.ndarray:
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"""Return a boolean mask of points inside the AABB (inclusive)."""
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aabb = normalize_aabb(aabb)
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return (
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(points[:, 0] >= aabb["x_min"])
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& (points[:, 0] <= aabb["x_max"])
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& (points[:, 1] >= aabb["y_min"])
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& (points[:, 1] <= aabb["y_max"])
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& (points[:, 2] >= aabb["z_min"])
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& (points[:, 2] <= aabb["z_max"])
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)
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__all__ = ["load_roi_aabb", "normalize_aabb", "apply_passthrough"]
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