GrabBag/AppAlgo/stereo_bolt_delivery/config/config.rk3588.yaml

# ============================================================
# 双目相机螺栓测量系统配置文件 (C++ port)
#
# 这是 Python 项目 e:/02_Modules/StereoVisionBoltMeasurement/config.yaml
# 的镜像。两者必须保持参数一致——任何一边改值，另一边同步。
# 数据路径用 Python 项目的绝对路径（见 paths 段末尾）。
# ============================================================

# ---------- 工作距离 ----------
# 从标定推导视差范围，替代 SGBM 固定 [288,1024]。
# z_min=1200 → disp_max≈1089，覆盖近处螺杆(disp~1060)。
working_distance:
  z_min_mm: 900
  z_max_mm: 4000

# ---------- 图像基本参数 ----------
image:
  width: 4096
  height: 3000
  channels: 1
  expected_dtype: "uint8"
  allowed_extensions: [".tiff", ".tif", ".bmp", ".png"]

# ---------- 图像输入自检 ----------
image_validation:
  min_max_value: 10
  max_saturation_ratio: 0.20

# ---------- ChArUco 标定板参数 ----------
charuco:
  rows: 9
  cols: 9
  square_length_mm: 50.0
  marker_length_mm: 37.0
  dict_id: 11                    # DICT_6X6_1000
  min_corners_per_image: 30

# ---------- 标定模块参数 ----------
calibration:
  source: "xml"
  xml_path: "calib/stereo_calib.xml"
  min_image_pairs: 15
  max_skip_ratio: 0.30
  max_single_rms: 0.40
  max_stereo_rms: 0.80
  expected_baseline_range: [80, 600]
  use_fix_intrinsic: true

# ---------- 校正模块参数 ----------
# alpha=1.0 是硬约束，详见 CLAUDE.md 隐式决策 #1。
rectification:
  alpha: 1.0
  interpolation: "cubic"
  validation_feature_count: 500
  validation_match_count: 10
  epipolar_inlier_threshold_pixel: 5.0
  min_epipolar_inlier_count: 3
  max_epipolar_error_pixel: 5.0
  min_valid_roi_ratio: 0.25

# ---------- SGBM 立体匹配参数 ----------
# min_disparity / num_disparities 依赖 f_rect·B；如标定改了必须重算。
# 当前值假设 f_rect≈3190, B≈235mm（alpha=1.0 下）。
sgbm:
  min_disparity: 288
  num_disparities: 736
  block_size: 5
  P1: 600
  P2: 2400
  disp12_max_diff: 1
  uniqueness_ratio: 10
  speckle_window_size: 100
  speckle_range: 2
  pre_filter_cap: 63
  mode: "SGBM_3WAY"

# ---------- WLS 滤波 ----------
wls:
  lambda_value: 8000.0
  sigma_color: 1.5

# ---------- 视差自检 ----------
disparity_validation:
  min_valid_pixel_ratio: 0.10
  min_disparity_range: 50
  max_nan_ratio: 0.90

# ---------- 点云参数 ----------
# z_min_mm / z_max_mm / expected_wd_range are FALLBACK only — when run_pipeline /
# c_api are wired (the standard path) SceneRuntime derives the real reachable
# Z range from (f_rect, baseline, sgbm.min_disparity, sgbm.num_disparities) and
# overrides these values per frame. See docs/L_100_SCENE_HANDOFF.md §6.2 and
# include/stereo_bolt/scene_runtime.hpp. Keep the fallback values conservative
# enough to cover every supported workpiece distance.
pointcloud:
  z_min_mm: 600
  z_max_mm: 3000
  expected_wd_range: [600, 3000]
  min_num_points: 50000
  max_z_std_mm: 800
  min_bbox_extent_x_mm: 200
  min_bbox_extent_y_mm: 100
  sor_nb_neighbors: 30
  sor_std_ratio: 2.0
  voxel_downsample_min_points: 500000
  voxel_size_mm: 0.5
  roi_mask:
    enabled: false
    method: "hsv_threshold"
    hsv_lower: [0, 0, 210]
    hsv_upper: [180, 50, 255]
    morph_close_kernel: 15
    dilate_px: 100
    min_area_ratio: 0.02

# ---------- 2D 检测（左图分割） ----------
# mask_method: 决定 foam_mask(支撑面像素 mask) 怎么算
#   "brightness" — 亮度阈值 + 最大连通域(只对原始低曝光泡沫板场景有效;
#                   rectify ROI 外恒为 0,所以 mask 会等于 ROI 矩形)
#   "ransac"     — 在 dense xyz_map 上 RANSAC 找主导平面,
#                   把"到平面 < ransac.distance_thresh_mm"的像素当 mask
# 默认 "brightness" 保 parity_tests 不变,新工业数据用 "ransac"
bolt_detect_2d:
  mask_method: "ransac"
  foam_brightness_threshold: 70
  foam_morph_open_kernel: 21
  foam_dilate_px: 0
  bbox_margin_px: 60
  bolt_morph_close_kernel: 15
  bolt_min_area_px: 800
  min_bolts: 1
  max_bolts: 0
  bolt_exclude_dilate_px: 0      # 硬约束：默认 0，详见 CLAUDE.md 隐式决策 #5
  ransac:
    distance_thresh_mm: 8.0      # 点到平面距离 < 此值即视为 inlier(3σ 容忍下，
                                  # frame 100 residual_std≈2.6 mm)
    max_iterations: 200
    min_inlier_ratio: 0.15       # 兜底：inlier 占比过低视作失败，自动回退
    sample_stride: 4             # xyz_map 下采样步长(每 4×4 像素取 1 个 RANSAC 候选)
    morph_close_kernel_px: 9     # mask 后处理：闭运算填洞 + 最大连通域

# ---------- 参考平面 (SVD on foam mask) ----------
plane:
  max_residual_std_mm: 15.0
  max_normal_to_axis_deg: 60
  outlier_rejection_iterations: 5
  outlier_mad_k: 2.5

# ---------- 支撑面几何门 ----------
# plane fit 后、bolt extract 前执行。把 bolt 的 3D 中心投影到主支撑面
# inlier OBB, 超出 OBB 超过 margin_mm 的检测会被剔除并打印 WARN。
# margin_mm 独立于 bolt.expected_diameter_mm, 避免混杂不同尺寸螺杆时
# 几何门随螺杆规格隐式变宽/变窄。
support_gate:
  enabled: true
  margin_mm: 10.0

# ---------- 螺栓几何先验 ----------
# 主路径(run_pipeline / c_api)对每颗 bolt 先跑 bbox_projection 得 h_est,
# 然后 extract 内的 height 过滤改用 max(h_est × 1.3, h_est + 20 mm),
# validate_measurements 改用 |measured - h_est| < bolt.height_tolerance_mm。
# 下面的 max_height_mm / extract_height_filter_mm 只剩 fallback 作用 —— 当
# bbox_projection 失败、h_est 不可得时才走全局上限。
# 工件外形规格(expected_diameter_mm)仍是真正的先验,保留。
bolt:
  min_height_mm: 5.0
  max_height_mm: 250.0                 # fallback ceiling (used only when h_est is unavailable)
  extract_height_filter_mm: 200.0      # fallback filter (same condition)
  height_tolerance_mm: 60.0            # |measured - h_est| 允许差;触发 validate_measurements 失败
  expected_diameter_mm: 16.0
  min_points_per_bolt: 50
  max_axis_plane_angle_deg: 30
  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

# ---------- 几何测量 ----------
measurement:
  top_extraction_method: "percentile_on_axis"
  top_percentile: 0.99
  plane_use_sgbm: true
  # 主线定义：螺杆顶点沿拟合轴线到支撑平面的交点距离。
  height_from_plane: true
  plane_height_along_axis: true
  plane_anchor_max_foot_gap_std_mm: 20.0
  plane_sgbm_scale: 0.25
  plane_max_samples: 40000

# ---------- Diagnostics ----------
diagnostics:
  enabled: true
  blind_strip_warn_ratio: 0.25
  min_roi_pointcloud_coverage_ratio: 0.001

# ---------- YOLO 螺栓检测 ----------
# 注意 C++ 端走 ONNX：先在 Python 把 best_v4_finetune.pt 导出 .onnx。
# 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
# scene_runtime.cpp 在运行时用 pixels_per_mm(= f / Z_repr)换算成像素,
# 不同工作距离 / 不同镜头不再需要手调。
yolo:
  enabled: true
  model_path: "weights/obb.rknn"
  backend: "rknn"
  task: "obb"
  imgsz: 1024
  conf: 0.50
  dead_zone_min_valid_pts: 50
  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
  foam_bbox_dilate_mm: 16.0        # = expected_diameter_mm × 1.0; foam_mask 从 YOLO bbox 减去前用的膨胀量

  # Experimental: keep sparse-global YOLO bolts only when right YOLO + local LR check pass.
  local_stereo_fallback:
    enabled: true
    min_valid_points: 50

# ---------- 评估通过判据 ----------
evaluation:
  height_max_mm: 2.0
  height_p95_mm: 1.5
  pair_max_mm: 2.0
  pair_p95_mm: 1.5
  repeatability_std_max_mm: 1.0
  matching_max_distance_mm: 50.0

# ---------- 流水线行为 ----------
pipeline:
  fail_fast: true
  resume_from_checkpoint: true
  parallel_frames: false
  save_intermediate: false

# ---------- 日志 ----------
logging:
  level: "INFO"
  log_to_file: true
  log_file: "outputs/logs/pipeline.log"

# ---------- 路径 ----------
# 项目自带数据集在 data/ 下,跟 Python 工程完全脱钩。
paths:
  calibration_dir: "data/calib"
  test_dir: "E:/01_Projects/01_InProgress/hongchuang_bolt_detect_2026/image/0627-bolt-12mp"
  groundtruth_csv: "data/groundtruth.csv"
  output_dir: "outputs/macro257"
  stereo_params_yaml: "outputs/macro257/stereo_params.yaml"