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

alg/delivery_v1.1/coupler_panel_release/configs/profiles/high_density.yaml

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+# Profile: high-density scan (≈100w points, sub-mm spacing).
+sampling:
+  spacing_mm: 0.25
+  num_points: 1000000
+denoise:
+  steps:
+    - type: passthrough
+      bbox_padding_mm: 50.0
+    - type: voxel
+      voxel_mm: 0.25
+    - type: statistical
+      nb_neighbors: 50
+      std_ratio: 2.0
+detection:
+  grid_pixel_mm: 0.25
+plane_fit:
+  ransac_iterations: 500

alg/delivery_v1.1/coupler_panel_release/configs/profiles/low_density.yaml

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+# Profile: low-density scan (≈1w points, ≈2 mm spacing).
+sampling:
+  spacing_mm: 2.0
+  num_points: 10000
+denoise:
+  steps:
+    - type: passthrough
+      bbox_padding_mm: 50.0
+    - type: voxel
+      voxel_mm: 1.0
+    - type: statistical
+      nb_neighbors: 15
+      std_ratio: 2.5
+detection:
+  grid_pixel_mm: 1.0
+  hole_min_area_mm2: 20.0
+plane_fit:
+  ransac_iterations: 100

alg/delivery_v1.1/coupler_panel_release/configs/profiles/lu1_af4.yaml

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+# Profile tuned for the lu1-M000004835653_AF4_ASMP072708187_N_AF4.stp panel.
+#
+# Topology summary (from cad/iter_circular_edges):
+#   - locating holes:  r = 16 mm × 4 corners at (y=±100, z=±180)
+#   - central hole:    r = 100 mm at (y≈1, z=0)
+#   - panel size:      ~200 × 360 mm in y-z, ~76 mm thick along x
+#
+# Use:
+#   coupler-measure --stp <path> --out-dir <dir> --profile lu1_af4
+
+cad:
+  linear_deflection_mm: 0.5
+  angular_deflection_rad: 0.1
+  # CAD-side: strict band that selects only the r=16 mm corner holes.
+  locating_hole_radius_mm: [14.0, 18.0]
+  central_hole_radius_min_mm: 80.0
+  rectangle_aspect_tol: 0.30
+
+sampling:
+  method: poisson_disk
+  spacing_mm: null
+  num_points: 500000
+  seed: 42
+
+# Critical: simulate a single-view "+x looking at -x" scan. Without this,
+# back-face points project into the hole regions and detection fails.
+scan_simulator:
+  enabled: true
+  view_origin: [10000.0, 0.0, 0.0]
+  hpr_radius_mm: 200000.0
+
+# --- Panel deflection injection -------------------------------------------
+# This is the *signal* we want the algorithm to recover. By default it is
+# off — sweeps override these.
+panel_deflection:
+  enabled: true
+  theta_right_deg: 0.5    # rotation around z so n_y > 0
+  theta_ref_deg: 0.3      # rotation around -y so n_z > 0
+
+# --- Realistic LiDAR / structured-light noise -----------------------------
+noise:
+  enabled: true
+  sigma_mm: 0.05          # ≈ 50 µm; matches typical industrial scanners
+  mode: isotropic
+  seed: 43
+
+# --- Scanner-pose jitter --------------------------------------------------
+# Modest values: 4-hole Kabsch should remove this completely.
+transform:
+  enabled: true
+  rotation_deg: 0.5
+  translation_mm: 2.0
+  rotation_axis: random
+  translation_dir: random
+  seed: 44
+
+denoise:
+  steps:
+    - type: passthrough
+      bbox_padding_mm: 50.0
+    - type: voxel
+      voxel_mm: 0.5         # finer voxel for low-noise data
+    - type: statistical
+      nb_neighbors: 20
+      std_ratio: 2.5
+
+detection:
+  panel_normal_seed: pca       # critical: use cloud's own PCA, not CAD seed
+  grid_pixel_mm: 2.0
+  closing_iters: 0
+  fill_bg_below_mm2: 100.0
+  panel_min_area_ratio: 0.15
+  hole_min_area_mm2: 600.0
+  hole_max_area_mm2: 5000.0
+  locating_hole_radius_mm: [14.0, 22.0]
+  circle_fit:
+    method: algebraic_then_lsq
+    inlier_residual_mm: 1.5
+  rectangle_aspect_tol: 0.40
+
+roi:
+  hole_dilate_mm: 5.0
+  central_hole_dilate_mm: 10.0
+  edge_buffer_mm: 8.0
+  chamfer_normal_dot_min: 0.80
+  outlier_z_score: 3.0
+
+plane_fit:
+  ransac_iterations: 300
+  ransac_inlier_thresh_mm: auto
+  min_inlier_ratio: 0.5
+  enforce_nx_positive: true
+
+metrics:
+  right_axis_sign: 1
+  angle_clamp_deg: 0.0
+
+artifacts:
+  save_intermediate: true
+  ply_format: binary
+  image_dpi: 150
+  heatmap_colormap: viridis
+
+registration:
+  method: kabsch_four_holes
+  refuse_if_residual_above_mm: 5.0