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

2026-05-27 09:51:42 +00:00
commit 16811100d1
391 changed files with 78338 additions and 0 deletions
--- a/alg/delivery_v1.1/coupler_panel_release/test_data/config.resolved.yaml
+++ b/alg/delivery_v1.1/coupler_panel_release/test_data/config.resolved.yaml
@@ -0,0 +1,94 @@
+schema_version: '1.0'
+cad:
+  linear_deflection_mm: 0.5
+  angular_deflection_rad: 0.1
+  locating_hole_radius_mm:
+  - 14.0
+  - 18.0
+  central_hole_radius_min_mm: 80.0
+  rectangle_aspect_tol: 0.15
+sampling:
+  method: grid_spacing
+  spacing_mm: null
+  num_points: 500000
+  seed: 42
+  adaptive:
+    curvature_weight: 1.0
+    min_spacing_factor: 0.25
+    max_spacing_factor: 4.0
+scan_simulator:
+  enabled: true
+  view_origin:
+  - 10000.0
+  - 0.0
+  - 0.0
+  hpr_radius_mm: 200000.0
+panel_deflection:
+  enabled: true
+  theta_right_deg: 0.5
+  theta_ref_deg: 0.3
+noise:
+  enabled: true
+  sigma_mm: 0.05
+  mode: isotropic
+  seed: 43
+transform:
+  enabled: true
+  rotation_deg: 0.5
+  rotation_axis: random
+  translation_mm: 2.0
+  translation_dir: random
+  seed: 44
+denoise:
+  steps:
+  - type: passthrough
+    bbox_padding_mm: 50.0
+  - type: voxel
+    voxel_mm: 0.5
+  - type: statistical
+    nb_neighbors: 20
+    std_ratio: 2.5
+  smoothing:
+    enabled: false
+    search_radius_mm: 2.0
+    polynomial_order: 2
+registration:
+  method: kabsch_four_holes
+  pre_align: pca_centroid
+  refuse_if_residual_above_mm: 5.0
+detection:
+  panel_normal_seed: pca
+  panel_normal_pca_kth: 1
+  grid_pixel_mm: 2.0
+  panel_min_area_ratio: 0.15
+  hole_min_area_mm2: 600.0
+  hole_max_area_mm2: 5000.0
+  circle_fit:
+    method: algebraic_then_lsq
+    inlier_residual_mm: 1.5
+  select_top_k_by_radius_match: 4
+  rectangle_aspect_tol: 0.4
+  fill_bg_below_mm2: 100.0
+  locating_hole_radius_mm:
+  - 14.0
+  - 22.0
+roi:
+  hole_dilate_mm: 5.0
+  central_hole_dilate_mm: 10.0
+  edge_buffer_mm: 8.0
+  chamfer_normal_dot_min: 0.8
+  outlier_z_score: 3.0
+plane_fit:
+  method: ransac_svd
+  ransac_iterations: 300
+  ransac_inlier_thresh_mm: 0.5
+  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