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

.gitignore

@@ -143,5 +143,22 @@ alg/点云测距v1.1/train_measurement_system/results/
 **/dist-info/
 
 # 算法运行中间产物
-alg/delivery_v1.2/coupler_panel_release/runs/
+alg/delivery_v1.2.1/coupler_panel_release/runs/
-alg/delivery_v1.2/underframe_deflection/runs/
+alg/delivery_v1.2.1/underframe_deflection/runs/
+
+# ─── 平整度/平面度/轮廓测量v1.5（大文件排除）────────────────────────────────────
+alg/平整度、平面度、轮廓测量v1.5/*.zip
+alg/平整度、平面度、轮廓测量v1.5/datasets/
+alg/平整度、平面度、轮廓测量v1.5/vis/
+alg/平整度、平面度、轮廓测量v1.5/results/
+alg/平整度、平面度、轮廓测量v1.5/**/*.ply
+
+# ─── train_measurement_system_v2.2（大文件排除）─────────────────────────────────
+alg/train_measurement_system_v2.2/**/*.ply
+alg/train_measurement_system_v2.2/**/results/
+alg/train_measurement_system_v2.2/**/visualizations*/
+
+# ─── 整车配准v1.3（大文件排除）──────────────────────────────────────────────────
+alg/整车配准v1.3/**/*.ply
+alg/整车配准v1.3/datasets/
+alg/整车配准v1.3/results/

Dockerfile

@@ -92,6 +92,15 @@ RUN PY_VER=$(python3 -c "import sys; print(f'{sys.version_info.major}.{sys.versi
     && SYS_SP=$(python3 -c "import site; print(site.getsitepackages()[0])") \
     && ln -sf "${CONDA_SP}/OCC" "${SYS_SP}/OCC"
 
+# conda-forge 编译的 .so 需要新版 libstdc++（CXXABI_1.3.15）；
+# 动态查找 conda 提供的最新真实文件，避免硬编码版本号或双重软链问题
+RUN set -eux \
+    && LIBSTDCPP=$(ls /opt/conda/lib/libstdc++.so.6.0.* 2>/dev/null | sort -V | tail -1) \
+    && [ -n "$LIBSTDCPP" ] && ln -sf "$LIBSTDCPP" /usr/lib/x86_64-linux-gnu/libstdc++.so.6 \
+    && echo "libstdc++ -> $LIBSTDCPP" \
+    && python3 -c "from OCC.Core.STEPControl import STEPControl_Reader; print('pythonocc-core OK')" \
+    && python3 -c "from OCC.Core.BRep import BRep_Builder; print('OCC BRep OK')"
+
 ENV PYTHON3_PATH=/usr/bin/python3
 
 # 创建非 root 用户（bookworm 用 groupadd/useradd）

alg/delivery_v1.2.1/coupler_panel_release/coupler_panel/reporting/__init__.py

@@ -0,0 +1,12 @@
+"""Batch-evaluation reporting helpers (xlsx output)."""
+
+from .excel import EvalRow, write_excel_report, build_row_from_summary
+from .inspection import InspectionItem, write_inspection_report
+
+__all__ = [
+    "EvalRow",
+    "write_excel_report",
+    "build_row_from_summary",
+    "InspectionItem",
+    "write_inspection_report",
+]

alg/delivery_v1.2.1/coupler_panel_release/coupler_panel/reporting/inspection.py

@@ -0,0 +1,124 @@
+"""Inspection-item Excel reports (项点报表).
+
+Each report is one measurement item with the six columns the quality
+department expects:
+
+    项点名称 | 理论尺寸 | 公差要求 | 测量结果 | 误差结果 | 测量结论
+
+For the coupler panel, the two deflection angles are reported in a
+**slope form** ``value/L mm`` (e.g. ``0.8/375mm``) rather than degrees,
+because the tolerance is specified that way. ``value`` is the lateral
+offset over a baseline of ``L`` mm:
+
+    value = L * tan(theta)          (theta in radians)
+
+so a measured angle ``theta`` becomes ``(L*tan theta)/L mm``. The
+tolerance ``T/L mm`` is the angle whose offset over ``L`` is ``T``; the
+result passes when ``|L*tan(theta)| <= T``.
+"""
+
+from __future__ import annotations
+
+import math
+from dataclasses import dataclass
+from pathlib import Path
+
+try:
+    from openpyxl import Workbook
+    from openpyxl.styles import Alignment, Font, PatternFill
+except ImportError as exc:  # pragma: no cover
+    raise ImportError(
+        "openpyxl is required for Excel reporting; install with `pip install openpyxl`"
+    ) from exc
+
+
+COLUMNS = ("项点名称", "理论尺寸", "公差要求", "测量结果", "误差结果", "测量结论")
+
+
+@dataclass
+class InspectionItem:
+    """One deflection-angle inspection item, reported in ``value/L mm`` form."""
+
+    name: str                  # 项点名称
+    theta_deg: float           # measured angle (degrees), theory = 0
+    baseline_mm: float         # L in the slope form
+    tol_value_mm: float        # tolerance numerator T (so tolerance = T/L mm)
+
+    # --- derived ---
+    @property
+    def offset_mm(self) -> float:
+        """L * tan(theta): lateral offset over the baseline, mm."""
+        return self.baseline_mm * math.tan(math.radians(self.theta_deg))
+
+    @property
+    def theoretical_str(self) -> str:
+        return f"0/{self.baseline_mm:g}mm"
+
+    @property
+    def tolerance_str(self) -> str:
+        return f"{self.tol_value_mm:g}/{self.baseline_mm:g}mm"
+
+    @property
+    def measured_str(self) -> str:
+        return f"{self.offset_mm:.6f}/{self.baseline_mm:g}mm"
+
+    @property
+    def error_str(self) -> str:
+        # Error == measured result here (theory is 0).
+        return self.measured_str
+
+    @property
+    def passed(self) -> bool:
+        return abs(self.offset_mm) <= self.tol_value_mm
+
+    @property
+    def conclusion_str(self) -> str:
+        return "合格" if self.passed else "不合格"
+
+    def row(self) -> tuple[str, str, str, str, str, str]:
+        return (
+            self.name,
+            self.theoretical_str,
+            self.tolerance_str,
+            self.measured_str,
+            self.error_str,
+            self.conclusion_str,
+        )
+
+
+def write_inspection_report(item: InspectionItem, path: str | Path) -> Path:
+    """Write a single-item inspection report to an xlsx file."""
+    out = Path(path)
+    out.parent.mkdir(parents=True, exist_ok=True)
+
+    wb = Workbook()
+    ws = wb.active
+    ws.title = "inspection"
+
+    header_font = Font(bold=True)
+    header_fill = PatternFill("solid", fgColor="DDDDDD")
+    center = Alignment(horizontal="center", vertical="center")
+
+    for c, label in enumerate(COLUMNS, start=1):
+        cell = ws.cell(row=1, column=c, value=label)
+        cell.font = header_font
+        cell.fill = header_fill
+        cell.alignment = center
+
+    for c, val in enumerate(item.row(), start=1):
+        cell = ws.cell(row=2, column=c, value=val)
+        cell.alignment = center
+
+    # red font for 不合格 conclusion
+    if not item.passed:
+        ws.cell(row=2, column=6).font = Font(color="CC0000", bold=True)
+
+    widths = (44, 12, 14, 16, 16, 12)
+    for c, w in enumerate(widths, start=1):
+        ws.column_dimensions[ws.cell(row=1, column=c).column_letter].width = w
+
+    wb.save(out)
+    return out
+
+
+__all__ = ["InspectionItem", "write_inspection_report", "COLUMNS"]

alg/delivery_v1.2.1/coupler_panel_release/examples/roi_train1_coupler.json

@@ -0,0 +1,9 @@
+{
+  "x_min": -11753.0,
+  "x_max": -11506.0,
+  "y_min": -950.0,
+  "y_max": 950.0,
+  "z_min": 788.0,
+  "z_max": 1192.0,
+  "comment": "Coupler mounting panel ROI on train_1 full-vehicle scan (m000004802409t02_asm). Six numbers are the cropping hyper-parameters consumed directly by the algorithm; coordinates are in the cloud's own frame."
+}

alg/delivery_v1.2.1/coupler_panel_release/examples/run_integration.py

@@ -25,12 +25,15 @@ from __future__ import annotations
 
 import argparse
 import logging
+import math
 import time
 from pathlib import Path
 
+import numpy as np
+
 from coupler_panel.exceptions import CouplerError
 from coupler_panel.pipeline import run_coupler_measurement_pipeline
-from coupler_panel.reporting import build_row_from_summary, write_excel_report
+from coupler_panel.reporting import InspectionItem, write_inspection_report
 from coupler_panel.roi_select import load_roi_json
 
 
@@ -80,32 +83,33 @@ def main(argv: list[str] | None = None) -> int:
         return 2
     pipeline_seconds = time.perf_counter() - t0
 
-    # n_points after ROI crop is recorded in <out>/roi.json diagnostics.
+    # --- Raw (pre-clamp) deflection angles from the fitted plane normal ----
-    import json as _json
+    # Use the un-clamped normal so a tiny non-zero angle is NOT rounded to 0.
-    roi_diag = _json.loads((args.out / "roi.json").read_text(encoding="utf-8"))
+    n = np.asarray(result.report["plane"]["normal"], dtype=np.float64)
-    n_roi = int(roi_diag.get("diagnostics", {}).get("n_out", 0))
+    theta_right_deg = math.degrees(math.atan2(n[1], n[0]))   # 距纵向中心 (y)
-    n_in = int(roi_diag.get("diagnostics", {}).get("n_in", n_roi))
+    theta_ref_deg   = math.degrees(math.atan2(n[2], n[0]))   # 距参考面 (z)
 
-    row = build_row_from_summary(
+    # --- Two inspection-item Excel reports (slope form value/L mm) ---------
-        sample_id=sample_id,
+    item_ref = InspectionItem(
-        ply_path=str(args.cloud),
+        name="车钩面板距参考面的右偏转角（头车一位端处车钩）",
-        roi_kind=f"aabb {roi_spec.x_min:.0f}-{roi_spec.x_max:.0f},"
+        theta_deg=theta_ref_deg,
-                 f"{roi_spec.y_min:.0f}-{roi_spec.y_max:.0f},"
+        baseline_mm=375.0,
-                 f"{roi_spec.z_min:.0f}-{roi_spec.z_max:.0f}",
+        tol_value_mm=0.8,                 # 公差 0.8/375mm
-        measured=result.to_dict(),
+    )
-        gt_angles=(args.gt_theta_right, args.gt_theta_ref),
+    item_long = InspectionItem(
-        registration=None,
+        name="车钩面板距纵向中心的右偏转角(头车一位端处车钩)",
-        n_points_in=n_in,
+        theta_deg=theta_right_deg,
-        n_points_after_roi=n_roi,
+        baseline_mm=700.0,
-        pipeline_seconds=pipeline_seconds,
+        tol_value_mm=1.0,                 # 公差 1/700mm
     )
-    # Record the STP path in the row's extra metadata (audit trail).
-    row.extra["stp_audit_path"] = str(args.stp) if args.stp else ""
 
-    xlsx = write_excel_report([row], args.out / "eval_report.xlsx")
+    out_ref  = write_inspection_report(item_ref,  args.out / "report_ref_plane.xlsx")
-    log.info("theta_right=%+.4f  theta_ref=%+.4f  flags=%s",
+    out_long = write_inspection_report(item_long, args.out / "report_longitudinal.xlsx")
-             result.theta_right_deg, result.theta_ref_deg, result.quality_flags)
+
-    log.info("wrote %s", xlsx)
+    for it, p in ((item_ref, out_ref), (item_long, out_long)):
+        log.info("%s | 测量结果=%s | 公差=%s | %s",
+                 it.name, it.measured_str, it.tolerance_str, it.conclusion_str)
+    log.info("wrote %s , %s", out_ref, out_long)
     return 0
 
 

alg/delivery_v1.2.1/underframe_deflection/USAGE.md

@@ -132,26 +132,30 @@ report = run_single_beam_pipeline(
 
 ---
 
-## 5. 输出 Excel 字段（report.xlsx）
+## 5. 输出 Excel（report.xlsx，左右各一份）
 
-### Sheet「Summary」（key/value）
+### Sheet「检测报表」（核心交付，6 列）
 
-| 字段 | 含义 |
+| 列 | 本项目取值 |
 | --- | --- |
-| `mode` / `side` | `single_beam` / `left`、`right` |
+| 项点名称 | 纵向梁到直线的垂直偏差（挠度） |
-| `input_cloud` / `roi_source` / `cad_reference` | 三个输入文件的绝对路径 |
+| 理论尺寸 | 0 |
-| `registration_performed` / `registration_note` | 是否配准 + 说明 |
+| 公差要求 | 左梁 ±7mm / 右梁 ±12mm |
-| `roi_point_count` | ROI 裁剪命中点数 |
+| 测量结果 | 实测最大挠度（mm） |
-| `n_slices` / `n_kept` | 沿车长切片数 / 鲁棒拟合保留的切片数 |
+| 误差结果 | 与理论 0 的误差（= 测量结果，因理论值为 0） |
-| `reference_slope_mm_per_m` | 拟合参考线斜率 |
+| 测量结论 | 误差 ≤ 公差 → **合格**，否则 → **不合格** |
-| **`selected_signed_deflection_mm`** | **最大绝对挠度（带符号）← 核心结果** |
-| `selected_absolute_deflection_mm` | 最大绝对挠度 |
-| `selected_x_mm` | 该点的车长位置 |
-| `max_downward_mm` / `max_upward_mm` | 最大下凹 / 上凸挠度 |
-| `rms_mm` | 挠度 RMS |
-| `quality_flags` | 质量警告（空 = 正常） |
 
-### Sheet「Deflection_Curve」
+**左右判定**：面朝 x 正方向，`z > 0` 为左梁（公差 7mm），`z < 0` 为右梁（公差 12mm）。
+程序按 ROI 的 z 中心**自动判定**，不依赖文件名——即使左右 ROI 文件传反也不会用错公差。
+
+公差可覆盖：命令行 `--left-tolerance` / `--right-tolerance`（两梁模式）或 `--tolerance`（单梁模式）；
+Python API 同名参数 `left_tolerance_mm` / `right_tolerance_mm` / `tolerance_mm`。
+
+### Sheet「明细」（溯源，key/value）
+
+输入文件路径、是否配准、ROI 命中点数、切片数、参考线斜率、最大下凹/上凸、RMS、质量警告等。
+
+### Sheet「挠度曲线」
 
 沿车长逐点表：`x_mm, underside_height_mm, reference_height_mm, deflection_mm, kept`。
 

alg/delivery_v1.2.1/underframe_deflection/cli.py

@@ -56,7 +56,27 @@ def parse_args() -> argparse.Namespace:
     parser.add_argument(
         "--side",
         default=None,
-        help="Single mode label for --roi (left/right); inferred from the file name if omitted.",
+        help="Single mode label for --roi (left/right); inferred from the ROI's "
+             "lateral z (x-forward: z>0 left, z<0 right) if omitted.",
+    )
+    parser.add_argument(
+        "--tolerance",
+        type=float,
+        default=None,
+        help="Single mode --roi: pass/fail tolerance in mm. Default by side "
+             "(left 7, right 12).",
+    )
+    parser.add_argument(
+        "--left-tolerance",
+        type=float,
+        default=None,
+        help="Both-beam mode: left-beam tolerance in mm (default 7).",
+    )
+    parser.add_argument(
+        "--right-tolerance",
+        type=float,
+        default=None,
+        help="Both-beam mode: right-beam tolerance in mm (default 12).",
     )
     parser.add_argument(
         "--enable-registration",
@@ -135,6 +155,8 @@ def main() -> None:
                 config=config,
                 cad_path=args.cad,
                 enable_registration=args.enable_registration,
+                left_tolerance_mm=args.left_tolerance,
+                right_tolerance_mm=args.right_tolerance,
                 skip_excel=args.skip_excel,
                 skip_plot=args.skip_plot,
             )
@@ -144,6 +166,7 @@ def main() -> None:
                 roi_path=args.roi,
                 out_dir=args.out_dir,
                 side=args.side,
+                tolerance_mm=args.tolerance,
                 config=config,
                 cad_path=args.cad,
                 enable_registration=args.enable_registration,