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
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# 点云加噪模拟工具（独立，与主算法无关）
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> 给点云每个点加小幅随机高斯噪声，模拟真实扫描仪的抖动。
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> **与挠度测量算法完全解耦**，仅用于生成测试数据 / 评估算法对噪声的鲁棒性。
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## 噪声量级
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参考：约 2m × 2m 的扫描区域，真实噪声约 **50–80 微米**（0.05–0.08 mm）每坐标。
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噪声沿 x/y/z 三个轴独立施加（各向同性高斯）。
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## 用法
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```bash
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# 随机 σ ∈ [50, 80] um（默认）
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python tools/noise_simulation/add_noise.py input.ply output_noisy.ply
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# 固定 σ = 65 um
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python tools/noise_simulation/add_noise.py input.ply output_noisy.ply --sigma-um 65
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# 指定范围 + 固定种子（可复现）
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python tools/noise_simulation/add_noise.py input.ply output_noisy.ply \
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--sigma-um-min 50 --sigma-um-max 80 --seed 42
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```
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| 参数 | 默认 | 说明 |
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| --- | --- | --- |
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| `--sigma-um` | 无 | 固定噪声标准差（微米）。不给则在区间内随机取一个值 |
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| `--sigma-um-min` / `--sigma-um-max` | 50 / 80 | 随机 σ 的区间（微米） |
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| `--seed` | 0 | 随机种子（可复现） |
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| `--chunk` | 4000000 | 流式分块大小（顶点数），支持超大文件 |
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输入支持 ASCII / binary PLY；输出统一为 binary little-endian PLY（xyz float32）。
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12GB 级大文件流式处理，内存占用恒定。
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## 典型流程（评估噪声对挠度的影响）
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```bash
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# 1) 给整车点云加噪
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python tools/noise_simulation/add_noise.py train.ply train_noisy.ply --sigma-um 65
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# 2) 把加噪后的点云喂给算法
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underframe-measure --input-cloud train_noisy.ply \
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--left-roi roi_left_beam.json --right-roi roi_right_beam.json \
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--out-dir out_noisy/
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```
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理论挠度为 0 的样本，加 ~65um 噪声后挠度测量结果应仍很小（远小于 mm 级公差），
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用于验证算法对扫描噪声的鲁棒性。
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"""Independent point-cloud noise simulator (NOT part of the measurement algorithm).
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Adds small random Gaussian noise to every point to emulate real-scanner jitter.
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For a ~2m x 2m scan patch the realistic per-coordinate noise is roughly
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50-80 micrometres (0.05-0.08 mm). The noise is applied along all three axes.
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Streams the input PLY in chunks so multi-GB clouds (binary little/big-endian)
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can be processed without loading the whole file into memory. Output is written
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as binary little-endian PLY (same xyz float32 layout as the inputs in this
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project).
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Usage:
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python add_noise.py INPUT.ply OUTPUT.ply [--sigma-um 65] [--seed 0]
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python add_noise.py INPUT.ply OUTPUT.ply --sigma-um-min 50 --sigma-um-max 80
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"""
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from __future__ import annotations
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import argparse
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import struct
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import sys
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from pathlib import Path
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import numpy as np
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# Map PLY scalar property type -> numpy dtype code (subset used by xyz clouds).
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_PLY_TYPE_TO_NP = {
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"char": "i1", "int8": "i1", "uchar": "u1", "uint8": "u1",
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"short": "i2", "int16": "i2", "ushort": "u2", "uint16": "u2",
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"int": "i4", "int32": "i4", "uint": "u4", "uint32": "u4",
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"float": "f4", "float32": "f4", "double": "f8", "float64": "f8",
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}
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def parse_args() -> argparse.Namespace:
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p = argparse.ArgumentParser(description="Add small random noise to a point cloud (independent tool).")
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p.add_argument("input", help="Input point cloud (.ply binary/ascii).")
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p.add_argument("output", help="Output .ply (binary little-endian).")
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p.add_argument("--sigma-um", type=float, default=None,
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help="Fixed noise std-dev in micrometres (per coordinate). "
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"Default: random per run in [sigma-um-min, sigma-um-max].")
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p.add_argument("--sigma-um-min", type=float, default=50.0,
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help="Min noise std-dev (um) when --sigma-um is not given. Default 50.")
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p.add_argument("--sigma-um-max", type=float, default=80.0,
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help="Max noise std-dev (um) when --sigma-um is not given. Default 80.")
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p.add_argument("--seed", type=int, default=0, help="RNG seed (reproducible).")
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p.add_argument("--chunk", type=int, default=4_000_000, help="Vertices per chunk.")
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return p.parse_args()
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def _parse_ply_header(path: Path):
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header_bytes = 0
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vertex_count = None
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vertex_props: list[tuple[str, str]] = []
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in_vertex = False
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fmt = "ascii"
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with path.open("rb") as fh:
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first = fh.readline(); header_bytes += len(first)
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if first.strip().lower() != b"ply":
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raise ValueError(f"Not a PLY file: {path}")
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while True:
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raw = fh.readline()
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if not raw:
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raise ValueError(f"PLY header missing end_header: {path}")
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header_bytes += len(raw)
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tok = raw.decode("ascii", errors="replace").strip().split()
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if not tok:
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continue
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kw = tok[0].lower()
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if kw == "format":
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fmt = tok[1].lower()
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elif kw == "element":
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in_vertex = tok[1].lower() == "vertex"
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if in_vertex:
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vertex_count = int(tok[2])
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elif kw == "property" and in_vertex:
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vertex_props.append(("list", tok[-1]) if tok[1].lower() == "list"
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else (tok[1].lower(), tok[-1]))
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elif kw == "end_header":
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break
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if vertex_count is None:
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raise ValueError(f"PLY has no vertex element: {path}")
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return fmt, header_bytes, vertex_count, vertex_props
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def _write_ply_header(fh, n: int) -> None:
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fh.write(b"ply\n")
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fh.write(b"format binary_little_endian 1.0\n")
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fh.write(f"element vertex {n}\n".encode("ascii"))
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fh.write(b"property float x\nproperty float y\nproperty float z\n")
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fh.write(b"end_header\n")
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def main() -> None:
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args = parse_args()
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in_path, out_path = Path(args.input), Path(args.output)
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rng = np.random.default_rng(args.seed)
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if args.sigma_um is not None:
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sigma_um = float(args.sigma_um)
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else:
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sigma_um = float(rng.uniform(args.sigma_um_min, args.sigma_um_max))
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sigma_mm = sigma_um / 1000.0 # micrometres -> millimetres
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fmt, header_bytes, vertex_count, vertex_props = _parse_ply_header(in_path)
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if fmt == "ascii":
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# small/text path: load, perturb, write
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pts = np.loadtxt(in_path, skiprows=_count_header_lines(in_path), dtype=np.float64)[:, :3]
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pts = pts + rng.normal(0.0, sigma_mm, size=pts.shape)
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with out_path.open("wb") as fh:
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_write_ply_header(fh, len(pts))
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fh.write(pts.astype("<f4").tobytes())
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_report(in_path, out_path, len(pts), sigma_um)
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return
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if fmt not in {"binary_little_endian", "binary_big_endian"}:
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raise ValueError(f"Unsupported PLY format: {fmt}")
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if any(t == "list" for t, _ in vertex_props):
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raise ValueError("List vertex properties unsupported.")
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names = [n for _, n in vertex_props]
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for ax in ("x", "y", "z"):
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if ax not in names:
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raise ValueError(f"PLY missing coordinate '{ax}'.")
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endian = "<" if fmt == "binary_little_endian" else ">"
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rec_dtype = np.dtype([(n, endian + _PLY_TYPE_TO_NP[t]) for t, n in vertex_props])
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rec_bytes = rec_dtype.itemsize
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with in_path.open("rb") as fin, out_path.open("wb") as fout:
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_write_ply_header(fout, vertex_count)
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fin.seek(header_bytes)
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remaining = vertex_count
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while remaining > 0:
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n = min(args.chunk, remaining)
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buf = fin.read(n * rec_bytes)
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if len(buf) < n * rec_bytes:
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n = len(buf) // rec_bytes
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if n == 0:
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break
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buf = buf[: n * rec_bytes]
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recs = np.frombuffer(buf, dtype=rec_dtype, count=n)
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xyz = np.column_stack([recs["x"], recs["y"], recs["z"]]).astype(np.float64)
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xyz += rng.normal(0.0, sigma_mm, size=xyz.shape)
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fout.write(xyz.astype("<f4").tobytes())
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remaining -= n
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_report(in_path, out_path, vertex_count, sigma_um)
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def _count_header_lines(path: Path) -> int:
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n = 0
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with path.open("rb") as fh:
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for line in fh:
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n += 1
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if line.strip() == b"end_header":
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break
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return n
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def _report(in_path, out_path, n, sigma_um) -> None:
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print(f"input : {in_path}")
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print(f"output: {out_path}")
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print(f"points: {n:,}")
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print(f"noise : Gaussian sigma = {sigma_um:.1f} um ({sigma_um/1000:.5f} mm) per coordinate")
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if __name__ == "__main__":
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sys.exit(main())
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