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

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+# 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