feat: 算法升级、整车配准集成与性能分析文档

算法更新: delivery v1.2.1、平整度v1.5、测距v2.2、整车配准v1.3
适配器: vehicle-registration 新增、各算法 manifest 和 adapter 更新
后端: taskCadFiles/source 字段迁移、derivedPointClouds 注册、取消任务联动
前端: ElapsedTime 时长显示、两步算法流程、canRun 逻辑修复
文档: 新增5份算法性能分析报告

alg/平整度、平面度、轮廓测量v1.5/cad_converter.py

@@ -0,0 +1,118 @@
+from __future__ import annotations
+
+import time
+from pathlib import Path
+
+import numpy as np
+
+
+class CADConverter:
+    """Convert STEP CAD files to STL meshes."""
+
+    def read_step_shape(self, input_step: str | Path):
+        try:
+            from OCC.Core.IFSelect import IFSelect_RetDone
+            from OCC.Core.STEPControl import STEPControl_Reader
+        except ModuleNotFoundError as exc:
+            raise RuntimeError(
+                "pythonocc-core is required for CAD conversion. "
+                "Install it with conda-forge before running CAD workflows."
+            ) from exc
+
+        input_step = Path(input_step)
+        step_reader = STEPControl_Reader()
+        if step_reader.ReadFile(str(input_step)) != IFSelect_RetDone:
+            raise ValueError(f"Failed to read STEP file: {input_step}")
+        step_reader.TransferRoots()
+        return step_reader.OneShape()
+
+    def step_to_numpy_mesh(
+        self,
+        input_step: str | Path,
+        mesh_deflection: float = 0.1,
+    ) -> tuple[np.ndarray, np.ndarray]:
+        try:
+            from OCC.Core.BRep import BRep_Tool
+            from OCC.Core.BRepMesh import BRepMesh_IncrementalMesh
+            from OCC.Core.TopAbs import TopAbs_FACE
+            from OCC.Core.TopExp import TopExp_Explorer
+
+            try:
+                from OCC.Core.TopoDS import topods
+            except ImportError:
+                from OCC.Core.TopoDS import TopoDS
+
+                topods = None
+        except ModuleNotFoundError as exc:
+            raise RuntimeError(
+                "pythonocc-core is required for CAD mesh extraction. "
+                "Install it with conda-forge before running CAD workflows."
+            ) from exc
+
+        shape = self.read_step_shape(input_step)
+        mesh = BRepMesh_IncrementalMesh(shape, mesh_deflection, False)
+        mesh.Perform()
+        if not mesh.IsDone():
+            raise RuntimeError("CAD mesh discretization failed.")
+
+        vertices: list[list[float]] = []
+        faces: list[list[int]] = []
+        explorer = TopExp_Explorer(shape, TopAbs_FACE)
+
+        while explorer.More():
+            current_shape = explorer.Current()
+            face = topods.Face(current_shape) if topods is not None else TopoDS.Face(current_shape)
+            location = face.Location()
+            triangulation = BRep_Tool.Triangulation(face, location)
+            if triangulation is None:
+                explorer.Next()
+                continue
+
+            transform = location.Transformation()
+            base_index = len(vertices)
+            for index in range(1, triangulation.NbNodes() + 1):
+                point = triangulation.Node(index)
+                point.Transform(transform)
+                vertices.append([point.X(), point.Y(), point.Z()])
+
+            for index in range(1, triangulation.NbTriangles() + 1):
+                n1, n2, n3 = triangulation.Triangle(index).Get()
+                faces.append([base_index + n1 - 1, base_index + n2 - 1, base_index + n3 - 1])
+
+            explorer.Next()
+
+        vertices_np = np.asarray(vertices, dtype=np.float64)
+        faces_np = np.asarray(faces, dtype=np.int64)
+        if len(vertices_np) == 0 or len(faces_np) == 0:
+            raise RuntimeError("CAD triangle mesh extraction failed; try a smaller mesh deflection.")
+        return vertices_np, faces_np
+
+    def convert_step_to_stl(self, input_step: str | Path, output_stl: str | Path, precision: float = 1.0) -> Path:
+        try:
+            from OCC.Core.BRepMesh import BRepMesh_IncrementalMesh
+            from OCC.Core.StlAPI import StlAPI_Writer
+        except ModuleNotFoundError as exc:
+            raise RuntimeError(
+                "pythonocc-core is required for CAD conversion. "
+                "Install it with conda-forge before running cad2mesh."
+            ) from exc
+
+        input_step = Path(input_step)
+        output_stl = Path(output_stl)
+        output_stl.parent.mkdir(parents=True, exist_ok=True)
+
+        start = time.time()
+        print(f"[1/3] Reading STEP: {input_step}")
+        shape = self.read_step_shape(input_step)
+
+        print(f"[2/3] Meshing with precision {precision} mm")
+        mesh = BRepMesh_IncrementalMesh(shape, precision, False)
+        mesh.Perform()
+        if not mesh.IsDone():
+            raise RuntimeError("Mesh discretization failed.")
+
+        print(f"[3/3] Writing STL: {output_stl}")
+        writer = StlAPI_Writer()
+        writer.Write(shape, str(output_stl))
+        print(f"CAD conversion finished in {time.time() - start:.2f}s")
+        return output_stl