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/profiles/high_density.yaml

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+# 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

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+# 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

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+# 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

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+# 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