244 lines
8.3 KiB
YAML
244 lines
8.3 KiB
YAML
# ============================================================
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# 双目相机螺栓测量系统配置文件 (C++ port)
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#
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# 这是 Python 项目 e:/02_Modules/StereoVisionBoltMeasurement/config.yaml
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# 的镜像。两者必须保持参数一致——任何一边改值，另一边同步。
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# 数据路径用 Python 项目的绝对路径（见 paths 段末尾）。
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# ============================================================
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# ---------- 工作距离 ----------
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# 从标定推导视差范围，替代 SGBM 固定 [288,1024]。
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# z_min=1200 → disp_max≈1089，覆盖近处螺杆(disp~1060)。
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working_distance:
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z_min_mm: 900
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z_max_mm: 4000
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# ---------- 图像基本参数 ----------
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image:
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width: 4096
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height: 3000
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channels: 1
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expected_dtype: "uint8"
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allowed_extensions: [".tiff", ".tif", ".bmp", ".png"]
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# ---------- 图像输入自检 ----------
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image_validation:
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min_max_value: 10
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max_saturation_ratio: 0.20
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# ---------- ChArUco 标定板参数 ----------
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charuco:
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rows: 9
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cols: 9
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square_length_mm: 50.0
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marker_length_mm: 37.0
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dict_id: 11 # DICT_6X6_1000
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min_corners_per_image: 30
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# ---------- 标定模块参数 ----------
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calibration:
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source: "xml"
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xml_path: "calib/stereo_calib.xml"
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min_image_pairs: 15
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max_skip_ratio: 0.30
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max_single_rms: 0.40
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max_stereo_rms: 0.80
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expected_baseline_range: [80, 600]
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use_fix_intrinsic: true
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# ---------- 校正模块参数 ----------
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# alpha=1.0 是硬约束，详见 CLAUDE.md 隐式决策 #1。
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rectification:
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alpha: 1.0
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interpolation: "cubic"
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validation_feature_count: 500
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validation_match_count: 10
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epipolar_inlier_threshold_pixel: 5.0
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min_epipolar_inlier_count: 3
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max_epipolar_error_pixel: 5.0
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min_valid_roi_ratio: 0.25
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# ---------- SGBM 立体匹配参数 ----------
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# min_disparity / num_disparities 依赖 f_rect·B；如标定改了必须重算。
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# 当前值假设 f_rect≈3190, B≈235mm（alpha=1.0 下）。
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sgbm:
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min_disparity: 288
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num_disparities: 736
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block_size: 5
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P1: 600
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P2: 2400
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disp12_max_diff: 1
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uniqueness_ratio: 10
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speckle_window_size: 100
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speckle_range: 2
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pre_filter_cap: 63
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mode: "SGBM_3WAY"
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# ---------- WLS 滤波 ----------
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wls:
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lambda_value: 8000.0
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sigma_color: 1.5
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# ---------- 视差自检 ----------
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disparity_validation:
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min_valid_pixel_ratio: 0.10
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min_disparity_range: 50
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max_nan_ratio: 0.90
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# ---------- 点云参数 ----------
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# z_min_mm / z_max_mm / expected_wd_range are FALLBACK only — when run_pipeline /
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# c_api are wired (the standard path) SceneRuntime derives the real reachable
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# Z range from (f_rect, baseline, sgbm.min_disparity, sgbm.num_disparities) and
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# overrides these values per frame. See docs/L_100_SCENE_HANDOFF.md §6.2 and
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# include/stereo_bolt/scene_runtime.hpp. Keep the fallback values conservative
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# enough to cover every supported workpiece distance.
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pointcloud:
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z_min_mm: 600
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z_max_mm: 3000
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expected_wd_range: [600, 3000]
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min_num_points: 50000
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max_z_std_mm: 800
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min_bbox_extent_x_mm: 200
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min_bbox_extent_y_mm: 100
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sor_nb_neighbors: 30
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sor_std_ratio: 2.0
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voxel_downsample_min_points: 500000
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voxel_size_mm: 0.5
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roi_mask:
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enabled: false
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method: "hsv_threshold"
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hsv_lower: [0, 0, 210]
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hsv_upper: [180, 50, 255]
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morph_close_kernel: 15
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dilate_px: 100
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min_area_ratio: 0.02
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# ---------- 2D 检测（左图分割） ----------
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# mask_method: 决定 foam_mask(支撑面像素 mask) 怎么算
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# "brightness" — 亮度阈值 + 最大连通域(只对原始低曝光泡沫板场景有效;
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# rectify ROI 外恒为 0,所以 mask 会等于 ROI 矩形)
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# "ransac" — 在 dense xyz_map 上 RANSAC 找主导平面,
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# 把"到平面 < ransac.distance_thresh_mm"的像素当 mask
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# 默认 "brightness" 保 parity_tests 不变,新工业数据用 "ransac"
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bolt_detect_2d:
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mask_method: "ransac"
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foam_brightness_threshold: 70
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foam_morph_open_kernel: 21
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foam_dilate_px: 0
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bbox_margin_px: 60
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bolt_morph_close_kernel: 15
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bolt_min_area_px: 800
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min_bolts: 1
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max_bolts: 0
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bolt_exclude_dilate_px: 0 # 硬约束：默认 0，详见 CLAUDE.md 隐式决策 #5
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ransac:
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distance_thresh_mm: 8.0 # 点到平面距离 < 此值即视为 inlier(3σ 容忍下，
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# frame 100 residual_std≈2.6 mm)
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max_iterations: 200
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min_inlier_ratio: 0.15 # 兜底：inlier 占比过低视作失败，自动回退
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sample_stride: 4 # xyz_map 下采样步长(每 4×4 像素取 1 个 RANSAC 候选)
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morph_close_kernel_px: 9 # mask 后处理：闭运算填洞 + 最大连通域
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# ---------- 参考平面 (SVD on foam mask) ----------
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plane:
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max_residual_std_mm: 15.0
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max_normal_to_axis_deg: 60
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outlier_rejection_iterations: 5
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outlier_mad_k: 2.5
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# ---------- 支撑面几何门 ----------
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# plane fit 后、bolt extract 前执行。把 bolt 的 3D 中心投影到主支撑面
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# inlier OBB, 超出 OBB 超过 margin_mm 的检测会被剔除并打印 WARN。
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# margin_mm 独立于 bolt.expected_diameter_mm, 避免混杂不同尺寸螺杆时
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# 几何门随螺杆规格隐式变宽/变窄。
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support_gate:
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enabled: true
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margin_mm: 10.0
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# ---------- 螺栓几何先验 ----------
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# 主路径(run_pipeline / c_api)对每颗 bolt 先跑 bbox_projection 得 h_est,
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# 然后 extract 内的 height 过滤改用 max(h_est × 1.3, h_est + 20 mm),
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# validate_measurements 改用 |measured - h_est| < bolt.height_tolerance_mm。
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# 下面的 max_height_mm / extract_height_filter_mm 只剩 fallback 作用 —— 当
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# bbox_projection 失败、h_est 不可得时才走全局上限。
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# 工件外形规格(expected_diameter_mm)仍是真正的先验,保留。
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bolt:
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min_height_mm: 5.0
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max_height_mm: 250.0 # fallback ceiling (used only when h_est is unavailable)
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extract_height_filter_mm: 200.0 # fallback filter (same condition)
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height_tolerance_mm: 60.0 # |measured - h_est| 允许差;触发 validate_measurements 失败
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expected_diameter_mm: 16.0
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min_points_per_bolt: 50
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max_axis_plane_angle_deg: 30
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extract_fallback: "bbox_projection" # 'none' | 'bbox_projection'; 后者用 YOLO bbox + 平面法向反解高度,处理 SGBM 在窄/反光螺杆上失败的情况
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# ---------- 几何测量 ----------
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measurement:
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top_extraction_method: "percentile_on_axis"
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top_percentile: 0.99
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plane_use_sgbm: true
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# 主线定义：螺杆顶点沿拟合轴线到支撑平面的交点距离。
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height_from_plane: true
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plane_height_along_axis: true
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plane_anchor_max_foot_gap_std_mm: 20.0
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plane_sgbm_scale: 0.25
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plane_max_samples: 40000
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# ---------- Diagnostics ----------
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diagnostics:
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enabled: true
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blind_strip_warn_ratio: 0.25
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min_roi_pointcloud_coverage_ratio: 0.001
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# ---------- YOLO 螺栓检测 ----------
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# 注意 C++ 端走 ONNX：先在 Python 把 best_v4_finetune.pt 导出 .onnx。
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# dilate 量原本写成像素(50/30),跟距离和分辨率耦合。改成毫米后由
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# scene_runtime.cpp 在运行时用 pixels_per_mm(= f / Z_repr)换算成像素,
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# 不同工作距离 / 不同镜头不再需要手调。
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yolo:
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enabled: true
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model_path: "weights/obb.rknn"
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backend: "rknn"
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task: "obb"
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imgsz: 1024
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conf: 0.50
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dead_zone_min_valid_pts: 50
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dead_zone_bbox_dilate_mm: 24.0 # = expected_diameter_mm × 1.5; 算 valid_xyz 前把 bbox 膨胀,救窄/反光螺杆
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foam_bbox_dilate_mm: 16.0 # = expected_diameter_mm × 1.0; foam_mask 从 YOLO bbox 减去前用的膨胀量
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# Experimental: keep sparse-global YOLO bolts only when right YOLO + local LR check pass.
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local_stereo_fallback:
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enabled: true
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min_valid_points: 50
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# ---------- 评估通过判据 ----------
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evaluation:
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height_max_mm: 2.0
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height_p95_mm: 1.5
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pair_max_mm: 2.0
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pair_p95_mm: 1.5
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repeatability_std_max_mm: 1.0
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matching_max_distance_mm: 50.0
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# ---------- 流水线行为 ----------
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pipeline:
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fail_fast: true
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resume_from_checkpoint: true
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parallel_frames: false
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save_intermediate: false
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# ---------- 日志 ----------
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logging:
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level: "INFO"
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log_to_file: true
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log_file: "outputs/logs/pipeline.log"
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# ---------- 路径 ----------
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# 项目自带数据集在 data/ 下,跟 Python 工程完全脱钩。
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paths:
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calibration_dir: "data/calib"
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test_dir: "E:/01_Projects/01_InProgress/hongchuang_bolt_detect_2026/image/0627-bolt-12mp"
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groundtruth_csv: "data/groundtruth.csv"
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output_dir: "outputs/macro257"
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stereo_params_yaml: "outputs/macro257/stereo_params.yaml"
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