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/delivery_v1.2.1/coupler_panel_release/configs/default.yaml

@@ -0,0 +1,145 @@
+# Default configuration for coupler panel measurement pipeline.
+# All numeric units in mm / degree unless otherwise stated.
+# Override fields by passing a dict or a YAML path with the same nested shape.
+
+schema_version: "1.0"
+
+# --- CAD parsing & GT extraction --------------------------------------------
+cad:
+  # OpenCASCADE tessellation quality.
+  linear_deflection_mm: 0.5
+  angular_deflection_rad: 0.1
+  # Hole topology classification.
+  # The four locating holes are expected to be small and equal-radius;
+  # the central pass-through hole is expected to be much larger.
+  locating_hole_radius_mm: [4.0, 12.0]   # [min, max] of expected locating hole radius
+  central_hole_radius_min_mm: 20.0       # any circle larger than this is treated as the centre hole
+  rectangle_aspect_tol: 0.15             # tolerance for "the 4 hole centres form a rectangle"
+
+# --- Sampling ---------------------------------------------------------------
+sampling:
+  method: poisson_disk        # uniform_area | poisson_disk | adaptive | grid_spacing
+  # Use either spacing_mm OR num_points; if both set, spacing_mm wins.
+  spacing_mm: 1.0
+  num_points: 100000
+  seed: 42
+  adaptive:
+    curvature_weight: 1.0
+    min_spacing_factor: 0.25  # smallest spacing = spacing_mm * factor
+    max_spacing_factor: 4.0
+
+# --- Simulated scan (optional) ----------------------------------------------
+scan_simulator:
+  enabled: false
+  view_origin: [10000.0, 0.0, 0.0]   # camera position in CAD frame, mm
+  hpr_radius_mm: 50000.0             # hidden-point-removal radius
+
+# --- Panel deflection injection (the SIGNAL the algorithm should measure) --
+# This rotates the panel (and its 4 locating holes) by a known small angle.
+# After running the pipeline, theta_right_deg / theta_ref_deg in the result
+# should match these values within the algorithm's recovery accuracy.
+panel_deflection:
+  enabled: false
+  theta_right_deg: 0.0    # atan2(n_y, n_x) target (rotation around z)
+  theta_ref_deg: 0.0      # atan2(n_z, n_x) target (rotation around -y)
+
+# --- Synthetic noise --------------------------------------------------------
+# Realistic LIDAR / structured-light noise on a ~2 m × 2 m panel is ≈ 50-80
+# µm = 0.05-0.08 mm. Larger sigma is mostly to test robustness, not to
+# match a real sensor.
+noise:
+  enabled: true
+  sigma_mm: 0.05
+  mode: isotropic                    # isotropic | along_normal
+  seed: 43
+
+# --- Synthetic scan-pose perturbation ---------------------------------------
+# Mounting / scanner-stage jitter. 4-hole Kabsch should cancel this; if it
+# leaks into the final angles that's a registration error, not a measurement
+# of panel deflection. Set rotation_deg=0, translation_mm=0 for "ideal pose"
+# experiments that isolate the deflection-recovery accuracy.
+transform:
+  enabled: true
+  rotation_deg: 0.5                  # magnitude; axis is randomised
+  rotation_axis: random              # random | x | y | z | [ax, ay, az]
+  translation_mm: 2.0                # magnitude; direction is randomised
+  translation_dir: random
+  seed: 44
+
+# --- Denoise pipeline -------------------------------------------------------
+# Steps are executed in the listed order. Set steps to [] to disable.
+denoise:
+  steps:
+    - type: passthrough
+      bbox_padding_mm: 50.0
+    - type: voxel
+      voxel_mm: 0.5
+    - type: statistical
+      nb_neighbors: 30
+      std_ratio: 2.0
+    - type: radius
+      nb_points: 8
+      radius_mm: 2.0
+  # Optional MLS smoothing (requires open3d ≥ 0.18 with ml extras).
+  smoothing:
+    enabled: false
+    search_radius_mm: 2.0
+    polynomial_order: 2
+
+# --- Registration -----------------------------------------------------------
+registration:
+  method: kabsch_four_holes          # only this method is implemented; documented & enforced
+  # The four GT hole centres come from CAD; the four scan hole centres come
+  # from the detection module. Pairing is by greedy nearest-neighbour after
+  # a coarse PCA-based pre-alignment of the centroid.
+  pre_align: pca_centroid
+  refuse_if_residual_above_mm: 5.0   # quality flag if RMS pairing residual exceeds this
+
+# --- 4-hole detection in point cloud ----------------------------------------
+detection:
+  # Local panel-plane projection.
+  panel_normal_seed: from_cad        # from_cad | pca | given
+  panel_normal_pca_kth: 1            # use k-th smallest PCA eigenvector as panel normal
+  # 2D occupancy grid.
+  grid_pixel_mm: 0.5
+  panel_min_area_ratio: 0.4          # largest connected component must be ≥ this fraction of bbox
+  hole_min_area_mm2: 30.0
+  hole_max_area_mm2: 800.0
+  # Circle fitting on hole boundary.
+  circle_fit:
+    method: algebraic_then_lsq       # algebraic_then_lsq | hyper | taubin
+    inlier_residual_mm: 0.5
+  # Selection.
+  select_top_k_by_radius_match: 4
+  rectangle_aspect_tol: 0.20
+
+# --- Panel ROI extraction ---------------------------------------------------
+roi:
+  hole_dilate_mm: 3.0                # exclude points within (hole_radius + dilate)
+  central_hole_dilate_mm: 5.0
+  edge_buffer_mm: 5.0                # shrink ROI rectangle inward by this
+  chamfer_normal_dot_min: 0.85       # exclude points whose normal deviates more than acos(0.85) from panel normal
+  outlier_z_score: 3.0
+
+# --- Plane fit --------------------------------------------------------------
+plane_fit:
+  method: ransac_svd
+  ransac_iterations: 200
+  ransac_inlier_thresh_mm: auto      # auto = 3*sigma_mm
+  min_inlier_ratio: 0.6
+  enforce_nx_positive: true
+
+# --- Metrics ----------------------------------------------------------------
+metrics:
+  # If your right axis is +y, leave this 1. If right is -y, set to -1.
+  right_axis_sign: 1
+  # Angles smaller than this are clamped to 0 (purely cosmetic; raw value is
+  # always in the report).
+  angle_clamp_deg: 0.0
+
+# --- Output / artifacts -----------------------------------------------------
+artifacts:
+  save_intermediate: true
+  ply_format: binary                 # binary | ascii
+  image_dpi: 150
+  heatmap_colormap: viridis

alg/delivery_v1.2.1/coupler_panel_release/configs/profiles/high_density.yaml

@@ -0,0 +1,17 @@
+# 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_v1.2.1/coupler_panel_release/configs/profiles/low_density.yaml

@@ -0,0 +1,18 @@
+# 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_v1.2.1/coupler_panel_release/configs/profiles/lu1_af4.yaml

@@ -0,0 +1,106 @@
+# 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

alg/delivery_v1.2.1/coupler_panel_release/configs/profiles/train2_coupler.yaml

@@ -0,0 +1,94 @@
+# Profile for the train_2 coupler mounting panel measured from a full-vehicle
+# scan (train_2_1T.ply, cropped to the coupler ROI).
+#
+# Part topology (measured from the 1T cloud, dataset frame x=length,
+# y=height, z=width):
+#   - a wide base plate with a RAISED central square mounting plate
+#   - the central plate has 4 corner bolt holes, r≈15.6 mm,
+#     rectangle 360 mm (z) × 200 mm (y), at z=±180, y=835/1035
+#   - NO central pass-through hole
+#   - the ROI box also slices a roof truss + the base plate behind the
+#     raised plate, so a normal-direction layer isolation is required
+#
+# Use:
+#   run_coupler_measurement_pipeline(input_cloud=roi.ply,
+#       profile="train2_coupler", roi_spec=<bbox>)   # no CAD, no Kabsch
+
+# --- CAD block (not used for STP parse here; kept for radius thresholds) ---
+cad:
+  linear_deflection_mm: 0.5
+  angular_deflection_rad: 0.1
+  locating_hole_radius_mm: [11.0, 19.0]   # r≈15.6 corner bolt holes
+  central_hole_radius_min_mm: 999.0       # this part has NO central hole
+  rectangle_aspect_tol: 0.40
+
+# --- Normal-direction layer isolation (the key pre-processing step) -------
+# Isolate the frontmost dominant layer = the raised central plate, so the
+# back plate + truss don't fill the holes / pollute the plane fit.
+layer_select:
+  enabled: true
+  normal_seed: pca          # pca | from_cad
+  half_width_mm: 8.0        # slab half-thickness around the chosen layer
+  pick: frontmost           # frontmost (toward scanner) | densest
+  bins: 240
+
+# --- Denoise: drop the density-fragile radius filter (sparse-ish scan) ----
+denoise:
+  steps:
+    - type: passthrough
+      bbox_padding_mm: 50.0
+    - type: voxel
+      voxel_mm: 0.5
+    - type: statistical
+      nb_neighbors: 20
+      std_ratio: 2.5
+
+# --- 4-hole detection tuned for r≈15.6 mm bolt holes ----------------------
+detection:
+  panel_normal_seed: pca
+  grid_pixel_mm: 2.0
+  closing_iters: 1
+  fill_bg_below_mm2: 60.0
+  panel_min_area_ratio: 0.15
+  hole_min_area_mm2: 300.0     # r=15.6 -> ~765 mm²; floor well below
+  hole_max_area_mm2: 1400.0    # ceil above; excludes larger back-layer holes
+  locating_hole_radius_mm: [11.0, 19.0]
+  rectangle_aspect_tol: 0.40
+  circle_fit:
+    method: algebraic_then_lsq
+    inlier_residual_mm: 1.5
+
+# --- Panel ROI extraction -------------------------------------------------
+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 ------------------------------------------------------------
+plane_fit:
+  ransac_iterations: 400
+  ransac_inlier_thresh_mm: 1.0
+  min_inlier_ratio: 0.3
+  enforce_nx_positive: true
+
+# --- Metrics --------------------------------------------------------------
+# NOTE: this dataset's frame is x=length, y=height, z=width — i.e. y and z
+# are swapped relative to the package's nominal (y=width, z=height). The
+# angle formulas are symmetric in form; here theta_right = atan2(n_y,n_x)
+# is the tilt toward car-height and theta_ref = atan2(n_z,n_x) is the tilt
+# toward car-width. Both are ~0 for an undeflected panel.
+metrics:
+  right_axis_sign: 1
+  angle_clamp_deg: 0.0
+
+registration:
+  method: kabsch_four_holes
+  refuse_if_residual_above_mm: 5.0
+
+artifacts:
+  save_intermediate: true
+  ply_format: binary
+  image_dpi: 150
+  heatmap_colormap: viridis