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/server/plugins/adapters/flatness_suite_run.py
+++ b/server/plugins/adapters/flatness_suite_run.py
@@ -0,0 +1,271 @@
+"""flatness-suite 算法适配器 (v1.2)。
+
+v1.2 变更：
+  - 算法目录从 alg/平整度、平面度、轮廓测量/ → alg/point_porj/
+  - 入口从独立脚本（importlib 加载）→ MeasurementPipeline 类
+  - run_plane / run_curvature / run_contour 统一通过 MeasurementPipeline 调用
+  - 点云路径通过 config["paths"]["pointcloud"] 注入，不再依赖 open3d 直接读取
+
+约定：
+  - module=all：plane + curvature（contour 需要 CAD STL，缺失时跳过）
+  - module=plane：只跑平面拟合
+  - module=curvature：只跑曲率估计
+  - module=contour：需要 CAD STL，缺失时报错
+"""
+
+from __future__ import annotations
+
+import copy
+import os
+import sys
+import traceback
+from pathlib import Path
+from typing import Any
+
+sys.path.insert(0, str(Path(__file__).parent))
+from _plugin_io import (
+    emit_progress,
+    ensure_ascii_ply,
+    first_pointcloud,
+    load_input,
+    write_error_result,
+    write_result,
+)
+
+
+def _safe_float(v: object) -> float | None:
+    try:
+        return float(v)  # type: ignore[arg-type]
+    except (TypeError, ValueError):
+        return None
+
+
+def _find_alg_dir(alg_root: str) -> Path:
+    """定位 point_porj 目录，支持多种可能的路径。"""
+    candidates = [
+        Path(alg_root) / "point_porj",
+        Path(alg_root) / "平整度、平面度、轮廓测量v1.2" / "point_porj",
+        Path(alg_root) / "平整度、平面度、轮廓测量" / "point_porj",
+    ]
+    for c in candidates:
+        if c.is_dir() and (c / "pipeline.py").exists():
+            return c
+    raise RuntimeError(
+        f"找不到 point_porj 算法目录，已尝试：\n"
+        + "\n".join(f"  {c}" for c in candidates)
+        + "\n请确认 alg/ 下已解压 point_porj/。"
+    )
+
+
+def _build_pipeline(alg_dir: Path, pc_path: str, out_dir: Path, params: dict) -> Any:
+    """初始化 MeasurementPipeline，注入点云路径和输出路径。"""
+    # 把 alg_dir 加到 sys.path，让 pipeline.py 能 import 同级模块
+    alg_dir_str = str(alg_dir)
+    if alg_dir_str not in sys.path:
+        sys.path.insert(0, alg_dir_str)
+
+    from pipeline import MeasurementPipeline  # type: ignore
+
+    # 加载内置 config.yaml，然后覆盖关键路径
+    pipeline = MeasurementPipeline(config_path=None)
+
+    # 注入点云路径
+    pipeline.config["paths"]["pointcloud"] = pc_path
+
+    # 注入输出路径（curvature_output 写到 outDir）
+    pipeline.config["paths"]["curvature_output"] = str(out_dir / "curvature.ply")
+
+    # 关闭可视化（无显示器）
+    pipeline.config["visualization"]["enabled"] = False
+
+    # 用户参数覆盖
+    voxel_size = _safe_float(params.get("voxelSizeMm"))
+    if voxel_size is not None:
+        pipeline.config["filters"]["voxel_size"] = voxel_size / 1000.0  # mm → m
+
+    threshold_mm = _safe_float(params.get("thresholdMm"))
+    if threshold_mm is not None:
+        pipeline.config["plane"]["threshold_mm"] = threshold_mm
+
+    return pipeline
+
+
+def main() -> int:
+    payload = load_input(sys.argv)
+    inputs = payload.get("inputs") or {}
+    config = inputs.get("config") or {}
+    out_dir = Path(payload["outDir"])
+    out_dir.mkdir(parents=True, exist_ok=True)
+
+    try:
+        alg_root = os.environ.get("ALG_ROOT") or os.environ.get("ALG_ROOT_HOST") or "/alg"
+        emit_progress(0.05, "定位 point_porj 算法目录")
+        alg_dir = _find_alg_dir(alg_root)
+
+        pc_path_raw = first_pointcloud(payload)
+        emit_progress(0.10, f"读取点云：{os.path.basename(pc_path_raw)}")
+
+        # 二进制 PLY → ASCII PLY（算法内置 reader 不依赖 open3d）
+        pc_path = ensure_ascii_ply(pc_path_raw, out_dir / "_ply_cache")
+
+        module = str(config.get("module") or "all")
+        emit_progress(0.15, f"初始化 MeasurementPipeline（module={module}）")
+
+        pipeline = _build_pipeline(alg_dir, pc_path, out_dir, config)
+
+        measurements: list[dict] = []
+        extra: dict[str, Any] = {"module": module}
+        skipped: list[str] = []
+
+        # ── plane ──────────────────────────────────────────────────────────────
+        if module in ("all", "plane"):
+            emit_progress(0.30, "平面拟合 (RANSAC)")
+            try:
+                res = pipeline.run_plane(
+                    pointcloud_path=pc_path,
+                    threshold_mm=_safe_float(config.get("thresholdMm")),
+                    no_visualize=True,
+                )
+                pr = res.get("plane_result")
+                if pr is not None:
+                    rmse_mm = float(pr.rmse) * 1000.0  # m → mm
+                    measurements += [
+                        {
+                            "name": "平面 RMSE",
+                            "value": round(rmse_mm, 4),
+                            "unit": "mm",
+                            "status": "pass" if rmse_mm <= 1.0 else "warning" if rmse_mm <= 2.0 else "fail",
+                        },
+                        {
+                            "name": "内点率",
+                            "value": round(float(pr.inlier_ratio), 2),
+                            "unit": "%",
+                            "status": "pass" if pr.inlier_ratio >= 80 else "warning" if pr.inlier_ratio >= 60 else "fail",
+                        },
+                        {
+                            "name": "法向角误差",
+                            "value": round(float(pr.normal_angle_deg), 4),
+                            "unit": "deg",
+                            "status": "info",
+                        },
+                    ]
+                    extra["planeModel"] = list(pr.model) if pr.model else None
+            except Exception as exc:
+                skipped.append(f"plane: {exc}")
+
+        # ── curvature ──────────────────────────────────────────────────────────
+        if module in ("all", "curvature"):
+            emit_progress(0.55, "曲率估计")
+            try:
+                res = pipeline.run_curvature(
+                    pointcloud_path=pc_path,
+                    no_visualize=True,
+                )
+                curvatures = res.get("curvatures")
+                if curvatures is not None:
+                    import numpy as np
+                    measurements += [
+                        {
+                            "name": "曲率均值",
+                            "value": round(float(np.mean(curvatures)), 6),
+                            "unit": "1/mm",
+                            "status": "info",
+                        },
+                        {
+                            "name": "曲率最大值",
+                            "value": round(float(np.max(curvatures)), 6),
+                            "unit": "1/mm",
+                            "status": "info",
+                        },
+                    ]
+                # 保存曲率点云路径
+                curv_ply = out_dir / "curvature.ply"
+                if curv_ply.exists():
+                    extra["curvaturePly"] = "curvature.ply"
+            except Exception as exc:
+                skipped.append(f"curvature: {exc}")
+
+        # ── contour ────────────────────────────────────────────────────────────
+        if module in ("all", "contour"):
+            emit_progress(0.75, "轮廓-平整度（需 CAD STL）")
+            cad_path = inputs.get("cadPath") or None
+            mesh_path = inputs.get("meshPath") or None
+            if not cad_path and not mesh_path:
+                skipped.append("contour: 未提供 CAD STL/STEP，跳过")
+            else:
+                try:
+                    save_path = str(out_dir / "contour.ply")
+                    excel_path = str(out_dir / "contour.xlsx")
+                    res = pipeline.run_contour(
+                        pointcloud_path=pc_path,
+                        cad_path=cad_path,
+                        mesh_path=mesh_path,
+                        save_path=save_path,
+                        excel_output_path=excel_path,
+                        no_visualize=True,
+                    )
+                    stats = res.get("distance_stats")
+                    for key, label, unit in [
+                        ("mean", "轮廓偏差均值", "mm"),
+                        ("max", "轮廓偏差最大值", "mm"),
+                        ("std", "轮廓偏差标准差", "mm"),
+                    ]:
+                        v = _safe_float(getattr(stats, key, None) if stats is not None else None)
+                        if v is not None:
+                            measurements.append({
+                                "name": label,
+                                "value": round(v, 4),
+                                "unit": unit,
+                                "status": "info",
+                            })
+                    if Path(save_path).exists():
+                        extra["contourPly"] = "contour.ply"
+                except Exception as exc:
+                    skipped.append(f"contour: {exc}")
+
+        emit_progress(0.95, "整理结果")
+
+        # 3D 叠加层：优先 contour PLY，其次 curvature PLY
+        overlay3d: dict = {"kind": "none"}
+        for ply_key in ("contourPly", "curvaturePly"):
+            if ply_key in extra:
+                overlay3d = {"kind": "vertexColors", "url": extra[ply_key]}
+                break
+
+        if skipped:
+            extra["skipped"] = skipped
+
+        status_vals = [m.get("status") for m in measurements]
+        overall = (
+            "fail" if "fail" in status_vals
+            else "warning" if "warning" in status_vals
+            else "completed"
+        )
+
+        payload_out = {
+            "schemaVersion": 1,
+            "status": overall,
+            "message": (
+                f"完成 {len(measurements)} 项测量。"
+                + (f" 跳过：{'; '.join(skipped)}" if skipped else "")
+            ),
+            "measurements": measurements,
+            "overlay3d": overlay3d,
+            "extra": extra,
+        }
+        write_result(out_dir, payload_out)
+        emit_progress(1.0, "完成")
+        return 0
+
+    except Exception as exc:
+        traceback.print_exc()
+        write_error_result(
+            out_dir,
+            f"flatness-suite 计算失败：{exc}",
+            extra={"traceback": traceback.format_exc()},
+        )
+        return 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())