feat: initial commit - massive-cloud point cloud processing system

alg/点云测距v1.1/train_measurement_system/config/measurements.yaml

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+# 列车测量任务配置文件
+
+# 点云文件路径（支持相对路径和绝对路径）
+# 相对路径：相对于本配置文件所在目录
+# 绝对路径：完整路径
+pointcloud_file: "../train_2_100M.py"
+# pointcloud_file: "../../../head_train_pointcloud/train_2_100M.ply"
+
+# 测量任务列表
+tasks:
+  - name: "任务21_侧门高度"
+    type: "plane_to_plane"
+    enabled: true
+    description: "测量侧门顶部到底部的距离"
+    visualization_dir: "visualizations"  # 可视化输出目录
+
+    # 源平面（采样点的来源）
+    source_roi:
+      bbox_min: [-2500, 3358, -1545]
+      bbox_max: [-1500, 3362, -1525]
+
+    # 目标平面（测量距离的目标）
+    target_roi:
+      bbox_min: [-2500, 1180, -1621]
+      bbox_max: [-1500, 1180, -1500]
+
+    # 算法参数
+    params:
+      # 从源平面采样的点数
+      sample_points: 100
+      # RANSAC平面拟合参数
+      ransac_threshold: 2.0  # 内点距离阈值(mm)
+      ransac_max_iterations: 1000
+      min_inlier_ratio: 0.6  # 最小内点比例
+
+  - 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"
+    visualization_dir: "visualizations"
+
+    source_roi:
+      bbox_min: [-14007, 1500, -800]
+      bbox_max: [-14006, 1900, 800]
+
+    target_roi:
+      bbox_min: [12499, 1216, -1300]
+      bbox_max: [12501, 3200, 1300]
+
+    params:
+      sample_points: 100
+      ransac_threshold: 2.0
+      ransac_max_iterations: 1000
+      min_inlier_ratio: 0.6
+
+  - name: "任务43_窗口下沿高度"
+    type: "plane_to_plane"
+    enabled: true
+    description: "测量窗口下沿到地面的距离"
+    visualization_dir: "visualizations"
+
+    source_roi:
+      bbox_min: [5562, 1982, 1672]
+      bbox_max: [6772, 1983, 1677]
+
+    target_roi:
+      bbox_min: [-10222, 1180, -302]
+      bbox_max: [12428, 1180, 302]
+
+    params:
+      sample_points: 100
+      ransac_threshold: 2.0
+      ransac_max_iterations: 1000
+      min_inlier_ratio: 0.6
+
+  - 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"
+    visualization_dir: "visualizations"
+
+    source_roi:
+      bbox_min: [-1419, 4000, -237]
+      bbox_max: [9030, 4000, 237]
+
+    target_roi:
+      bbox_min: [-10222, 1180, -302]
+      bbox_max: [12428, 1180, 302]
+
+    params:
+      sample_points: 100
+      ransac_threshold: 2.0
+      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: true
+    description: "测量边梁立面6个精确点到z=0平面的距离"
+    mode: "exact_points"
+    visualization_dir: "visualizations"  # 可视化输出目录
+
+    # 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"
+    visualization_dir: "visualizations"  # 可视化输出目录
+
+    # 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）"
+    visualization_dir: "visualizations"
+
+    # 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
+