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/io_handler.py

@@ -0,0 +1,69 @@
+from __future__ import annotations
+
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+import open3d as o3d
+import trimesh
+
+
+class IOHandler:
+    """Centralized input validation and file loading."""
+
+    def resolve_path(self, path: str | Path) -> Path:
+        return Path(path).expanduser()
+
+    def require_file(self, path: str | Path, label: str = "file") -> Path:
+        resolved = self.resolve_path(path)
+        if not resolved.exists():
+            raise FileNotFoundError(f"{label} not found: {resolved}")
+        if not resolved.is_file():
+            raise ValueError(f"{label} is not a file: {resolved}")
+        return resolved
+
+    def ensure_parent_dir(self, path: str | Path) -> Path:
+        resolved = self.resolve_path(path)
+        resolved.parent.mkdir(parents=True, exist_ok=True)
+        return resolved
+
+    def load_point_cloud(self, pointcloud_path: str | Path) -> o3d.geometry.PointCloud:
+        path = self.require_file(pointcloud_path, "Point cloud")
+        pcd = o3d.io.read_point_cloud(str(path))
+        if len(pcd.points) == 0:
+            raise ValueError(f"Point cloud is empty or unreadable: {path}")
+        return pcd
+
+    def load_mesh(self, mesh_path: str | Path) -> trimesh.Trimesh:
+        path = self.require_file(mesh_path, "Mesh")
+        mesh = trimesh.load(str(path), force="mesh")
+        if mesh.is_empty:
+            raise ValueError(f"Mesh is empty or unreadable: {path}")
+        return mesh
+
+    def require_cad(self, cad_path: str | Path) -> Path:
+        return self.require_file(cad_path, "CAD")
+
+    def save_point_cloud(self, pointcloud: o3d.geometry.PointCloud, output_path: str | Path) -> Path:
+        path = self.ensure_parent_dir(output_path)
+        ok = o3d.io.write_point_cloud(str(path), pointcloud)
+        if not ok:
+            raise IOError(f"Failed to save point cloud: {path}")
+        return path
+
+    def point_cloud_to_numpy(self, pointcloud: o3d.geometry.PointCloud) -> np.ndarray:
+        points = np.asarray(pointcloud.points, dtype=np.float64)
+        if points.size == 0:
+            raise ValueError("Point cloud has no points.")
+        return points
+
+    def mesh_triangles_to_numpy(self, mesh: trimesh.Trimesh) -> tuple[np.ndarray, np.ndarray]:
+        vertices = np.asarray(mesh.vertices, dtype=np.float64)
+        faces = np.asarray(mesh.faces, dtype=np.int64)
+        if len(vertices) == 0 or len(faces) == 0:
+            raise ValueError("Mesh must contain vertices and faces.")
+        return vertices, faces
+
+    def print_mapping(self, data: dict[str, Any]) -> None:
+        for key, value in data.items():
+            print(f"{key}: {value}")