250 lines
7.1 KiB
YAML
250 lines
7.1 KiB
YAML
# ============================================================
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# (C++ port)
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#
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# Python e:/02_Modules/StereoVisionBoltMeasurement/config.yaml
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#
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# Python paths
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# ============================================================
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# ---------- ----------
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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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# ---------- ----------
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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 ----------
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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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# ---------- ----------
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calibration:
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source: "xml"
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xml_path: "calib/stereo_calib.xml" # 0621 新装配 baseline 482mm (ChArUco)
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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 # : 12MP RMS=0.373(5MP 0.19)
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# 0.40 ;0.373 0.1px ,,
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# <0.20
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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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# ---------- ----------
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# alpha=1.0 CLAUDE.md #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 ----------
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# min_disparity / num_disparities f_rectB
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# f_rect3190, B235mmalpha=1.0
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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 ----------
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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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# ---------- ----------
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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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# ---------- ----------
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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 ----------
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# mask_method: foam_mask( mask)
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# "brightness" + (;
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# rectify ROI 0, mask ROI )
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# "ransac" dense xyz_map RANSAC ,
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# " < ransac.distance_thresh_mm" mask
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# "brightness" parity_tests , "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 # 0 CLAUDE.md #5
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ransac:
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distance_thresh_mm: 8.0 # < inlier(3
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# frame 100 residual_std2.6 mm)
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max_iterations: 200
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min_inlier_ratio: 0.15 # inlier
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sample_stride: 4 # xyz_map ( 44 1 RANSAC )
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morph_close_kernel_px: 9 # mask +
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# ---------- (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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# ---------- ----------
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# plane fit bolt extract bolt 3D
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# inlier OBB, OBB margin_mm WARN
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# margin_mm bolt.expected_diameter_mm,
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# /
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support_gate:
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enabled: true
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margin_mm: 10.0
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# ---------- ----------
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# (run_pipeline / c_api) bolt bbox_projection h_est,
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# extract height max(h_est 1.3, h_est + 20 mm),
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# validate_measurements |measured - h_est| < bolt.height_tolerance_mm
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# max_height_mm / extract_height_filter_mm fallback
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# bbox_projection h_est
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# (expected_diameter_mm),
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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| ; validate_measurements
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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'; YOLO bbox + , SGBM /
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# ---------- ----------
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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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foot_rim_correction: false # 0621 决定: 关 rim(圆顶无领圈杆上 rim 修正会过冲)
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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 ----------
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# C++ ONNX Python best_v4_finetune.pt .onnx
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# dilate (50/30),
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# scene_runtime.cpp pixels_per_mm(= f / Z_repr),
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# /
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yolo:
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enabled: true
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# 统一模型: 精测(sb_process_bolt_module_*)与测距(sb_range_bolt_binned)共用 weights/best.rknn。
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# 当前交付模型为 960 输入；文件名保持稳定，模型更新时只替换 weights/best.rknn。
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model_path: "weights/best.rknn"
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backend: "rknn"
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imgsz: 960
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conf: 0.5
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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; valid_xyz bbox ,/
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foam_bbox_dilate_mm: 16.0 # = expected_diameter_mm 1.0; foam_mask YOLO bbox
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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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# ---------- working distance (physical, rig-level) ----------
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# 0621 新装配 B=482mm: 精测视差带从 WD + 标定自推导 (disp = f*B/Z), 换基线无需重调像素。
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# 旧固定 sgbm 像素带(288/736)是 200mm 装配的, 对 482mm 会 NEAR-clip 近处螺柱。
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# 注意: 需 .so 含视差带解耦(commit dc696d8 起); 旧 .so 不读此块仍用固定带。
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working_distance:
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z_min_mm: 1200
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z_max_mm: 2800
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# ---------- ranging (binned) ----------
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# 测距视差带也按 0621 rig 的 WD; 物理 LRC 门(mm)随距离自紧。
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ranging:
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z_min_mm: 1300
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z_max_mm: 3600
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lrc_max_mm: 2.5
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lrc_trusted_mm: 1.2
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# ---------- ----------
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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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# ---------- ----------
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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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# ---------- ----------
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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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# ---------- ----------
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# dataset/ , Python
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paths:
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calibration_dir: "calib"
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test_dir: "dataset/test"
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groundtruth_csv: "dataset/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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