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
2026-06-25 08:22:20 +00:00
parent cec0766e67
commit 29f1d45d66
266 changed files with 1311475 additions and 2846 deletions
--- a/server/plugins/adapters/vehicle_registration_run.py
+++ b/server/plugins/adapters/vehicle_registration_run.py
@@ -0,0 +1,181 @@
+"""vehicle-registration 整车配准适配器 (v1.3)。
+
+调用 alg/整车配准v1.3 的 translate_align_by_front_tail：
+  - 输入：整车点云 PLY + 标准 STEP CAD
+  - 原理：车头/车尾各采样少量点算质心差，融合成整体平移矩阵
+  - v1.3 新增：ICP 精配准、CAD 采样缓存、配准误差统计（RMSE/p95/p99）
+  - 输出：
+      aligned_pointcloud_translation_only.ply  配准后的完整点云
+      T_translation_only.txt                   4x4 平移矩阵
+
+result.json 额外约定 derivedPointClouds 字段：runner 会把列出的 PLY
+回写为该任务的新点云记录（source='registered'），供后续测量算法选用。
+"""
+
+from __future__ import annotations
+
+import os
+import sys
+import traceback
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).parent))
+from _plugin_io import (
+    emit_progress,
+    first_pointcloud,
+    load_input,
+    write_error_result,
+    write_result,
+)
+
+
+def main() -> int:
+    payload = load_input(sys.argv)
+    inputs = payload.get("inputs") or {}
+    config = inputs.get("config") or {}
+    out_dir = Path(payload["outDir"])
+    out_dir.mkdir(parents=True, exist_ok=True)
+
+    try:
+        emit_progress(0.05, "加载整车配准算法包 v1.3")
+        from translate_align_pointcloud_to_cad import translate_align_by_front_tail  # type: ignore
+
+        pc_path = first_pointcloud(payload)
+        cad_path = inputs.get("cadPath")
+        if not cad_path:
+            raise RuntimeError("整车配准需要 STEP CAD 文件，请在任务下上传并选中 CAD。")
+
+        axis = str(config.get("axis") or "x")
+        crop_ratio = float(config.get("cropRatio") or 0.01)
+        mesh_deflection = float(config.get("meshDeflection") or 0.1)
+        cad_sample_points = int(config.get("cadSamplePoints") or 30000)
+        local_sample_points = int(config.get("localSamplePoints") or 1000)
+        scale_pointcloud = float(config.get("scalePointcloud") or 1.0)
+
+        # v1.3 新增参数
+        use_icp = bool(config.get("useIcp") if config.get("useIcp") is not None else True)
+        icp_sample_points = int(config.get("icpSamplePoints") or 200000)
+        compute_error_stats = bool(config.get("computeErrorStats") if config.get("computeErrorStats") is not None else True)
+        use_cad_cache = bool(config.get("useCadCache") if config.get("useCadCache") is not None else True)
+
+        emit_progress(
+            0.15,
+            f"开始配准：{os.path.basename(pc_path)} ← {os.path.basename(str(cad_path))}"
+            + (" + ICP" if use_icp else ""),
+        )
+
+        result = translate_align_by_front_tail(
+            cad_path=str(cad_path),
+            pointcloud_path=pc_path,
+            output_dir=str(out_dir),
+            axis=axis,
+            crop_ratio=crop_ratio,
+            mesh_deflection=mesh_deflection,
+            cad_sample_points=cad_sample_points,
+            local_sample_points=local_sample_points,
+            scale_pointcloud=scale_pointcloud,
+            visualize=False,
+            use_cad_cache=use_cad_cache,
+            use_icp=use_icp,
+            icp_sample_points=icp_sample_points,
+            compute_error_stats=compute_error_stats,
+            save_debug_samples=False,
+        )
+
+        emit_progress(0.92, "整理结果")
+
+        t_final = [float(v) for v in result["translation"]]
+        ft_diff = float(result["front_tail_translation_difference"])
+        elapsed = float(result.get("elapsed_seconds") or 0)
+
+        measurements = [
+            {"name": "最终平移量 Tx", "value": t_final[0], "unit": "mm", "status": "info"},
+            {"name": "最终平移量 Ty", "value": t_final[1], "unit": "mm", "status": "info"},
+            {"name": "最终平移量 Tz", "value": t_final[2], "unit": "mm", "status": "info"},
+            {
+                "name": "前后端平移差",
+                "value": ft_diff,
+                "unit": "mm",
+                "tolerance": 50.0,
+                "status": "pass" if ft_diff <= 50.0 else "warning",
+            },
+        ]
+
+        # ICP 结果指标
+        icp_stats = result.get("icp_stats")
+        if icp_stats:
+            measurements.append({
+                "name": "ICP fitness",
+                "value": float(icp_stats.get("fitness", 0)),
+                "unit": "",
+                "status": "pass" if float(icp_stats.get("fitness", 0)) >= 0.9 else "warning",
+            })
+            measurements.append({
+                "name": "ICP inlier RMSE",
+                "value": float(icp_stats.get("inlier_rmse", 0)),
+                "unit": "mm",
+                "status": "info",
+            })
+
+        # 配准误差统计
+        error_stats = result.get("error_stats")
+        if error_stats:
+            rmse = float(error_stats.get("rmse", 0))
+            p95 = float(error_stats.get("p95", 0))
+            measurements += [
+                {"name": "配准 RMSE", "value": rmse, "unit": "mm",
+                 "status": "pass" if rmse <= 5.0 else "warning"},
+                {"name": "配准误差 p95", "value": p95, "unit": "mm", "status": "info"},
+                {"name": "配准误差 p99", "value": float(error_stats.get("p99", 0)), "unit": "mm", "status": "info"},
+            ]
+
+        aligned_name = Path(result["aligned_path"]).name
+        src_stem = Path(pc_path).stem
+
+        # 下载文件：矩阵 + 误差统计（如有）
+        files = [Path(result["matrix_path"]).name]
+        error_stats_path = result.get("error_stats_path")
+        if error_stats_path and Path(error_stats_path).exists():
+            files.append(Path(error_stats_path).name)
+
+        payload_out = {
+            "schemaVersion": 1,
+            "status": "completed",
+            "message": (
+                f"整车配准完成（{'平移 + ICP' if use_icp else '仅平移'}，耗时 {elapsed:.1f}s）。"
+                "配准后的点云已加入任务点云列表，请在后续算法中选用。"
+            ),
+            "measurements": measurements,
+            "overlay3d": {"kind": "none"},
+            "files": files,
+            "derivedPointClouds": [
+                {"file": aligned_name, "name": f"{src_stem}_已配准.ply"}
+            ],
+            "extra": {
+                "initialTranslation": [float(v) for v in result.get("initial_translation", result["translation"])],
+                "finalTranslation": t_final,
+                "tFront": [float(v) for v in result["t_front"]],
+                "tTail": [float(v) for v in result["t_tail"]],
+                "matrix": [[float(v) for v in row] for row in result["T_final"]],
+                "icpStats": icp_stats,
+                "elapsedSeconds": elapsed,
+                "sourcePointCloud": os.path.basename(pc_path),
+                "cad": os.path.basename(str(cad_path)),
+            },
+        }
+        write_result(out_dir, payload_out)
+        emit_progress(1.0, "完成")
+        return 0
+
+    except Exception as exc:
+        traceback.print_exc()
+        write_error_result(
+            out_dir,
+            f"整车配准失败：{exc}",
+            extra={"traceback": traceback.format_exc()},
+        )
+        return 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())