# 列车测量任务配置文件

# 点云文件路径（支持相对路径和绝对路径）
# 相对路径：相对于本配置文件所在目录
# 绝对路径：完整路径
pointcloud_file: "../train_2_100M.py"
# pointcloud_file: "../../../head_train_pointcloud/train_2_100M.ply"

# 测量任务列表
tasks:
  - name: "任务21_侧门高度"
    type: "plane_to_plane"
    enabled: true
    description: "测量侧门顶部到底部的距离"
    visualization_dir: "visualizations"  # 可视化输出目录

    # 源平面（采样点的来源）
    source_roi:
      bbox_min: [-2500, 3358, -1545]
      bbox_max: [-1500, 3362, -1525]

    # 目标平面（测量距离的目标）
    target_roi:
      bbox_min: [-2500, 1180, -1621]
      bbox_max: [-1500, 1180, -1500]

    # 算法参数
    params:
      # 从源平面采样的点数
      sample_points: 100
      # RANSAC平面拟合参数
      ransac_threshold: 2.0  # 内点距离阈值(mm)
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6  # 最小内点比例

  - name: "任务2_车体长度"
    type: "plane_to_plane"
    enabled: true
    description: "测量车体前后端面的距离"
    visualization_dir: "visualizations"

    source_roi:
      bbox_min: [-14007, 1500, -800]
      bbox_max: [-14006, 1900, 800]

    target_roi:
      bbox_min: [12499, 1216, -1300]
      bbox_max: [12501, 3200, 1300]

    params:
      sample_points: 100
      ransac_threshold: 2.0
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6

  - name: "任务43_窗口下沿高度"
    type: "plane_to_plane"
    enabled: true
    description: "测量窗口下沿到地面的距离"
    visualization_dir: "visualizations"

    source_roi:
      bbox_min: [5562, 1982, 1672]
      bbox_max: [6772, 1983, 1677]

    target_roi:
      bbox_min: [-10222, 1180, -302]
      bbox_max: [12428, 1180, 302]

    params:
      sample_points: 100
      ransac_threshold: 2.0
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6

  - name: "任务44_车顶高度"
    type: "plane_to_plane"
    enabled: true
    description: "测量车顶到地面的距离"
    visualization_dir: "visualizations"

    source_roi:
      bbox_min: [-1419, 4000, -237]
      bbox_max: [9030, 4000, 237]

    target_roi:
      bbox_min: [-10222, 1180, -302]
      bbox_max: [12428, 1180, 302]

    params:
      sample_points: 100
      ransac_threshold: 2.0
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6

  - name: "任务3_边梁立面6点到z=0平面距离"
    type: "point_to_plane"
    enabled: true
    description: "测量边梁立面6个精确点到z=0平面的距离"
    mode: "exact_points"
    visualization_dir: "visualizations"  # 可视化输出目录

    # 目标点坐标（左右各3个点）
    target_points:
      - [-753.5, 1052.5, -1445]
      - [-753.5, 1052.5, 1445]
      - [3446.5, 1053, -1445]
      - [3446.5, 1053, 1445]
      - [8146.5, 1053, -1445]
      - [8146.5, 1053, 1445]

    # 平面参数 (ax + by + cz + d = 0)，z=0即c=1, d=0
    plane:
      a: 0
      b: 0
      c: 1
      d: 0

    # 最近点搜索半径(mm)
    search_radius: 10.0

  - name: "任务15_侧墙z最大值点到z=0平面距离"
    type: "point_to_plane"
    enabled: true
    description: "从两个包围盒提取侧墙点云，选取z绝对值最大的10个点，计算到z=0平面的距离"
    mode: "bbox_filtered"
    visualization_dir: "visualizations"  # 可视化输出目录

    # 包围盒列表
    bboxes:
      - name: "左侧墙"
        min: [-1468, 1899, -1680]
        max: [12300, 1901, -1677]
      - name: "右侧墙"
        min: [-1468, 1899, 1677]
        max: [12300, 1901, 1680]

    # 过滤条件
    filter:
      type: "max_abs_coordinate"
      axis: "z"
      top_n: 10

    # 平面参数 (z=0)
    plane:
      a: 0
      b: 0
      c: 1
      d: 0

  - name: "任务4_纵向梁距离"
    type: "point_to_point"
    enabled: true
    description: "测量关于z=0对称的点对之间的距离（纵向梁）"
    visualization_dir: "visualizations"

    # 点对配置（使用任务3的6个点，配对测量）
    point_pairs:
      - name: "前端点对"
        point1: [-753.5, 1052.5, -1445]
        point2: [-753.5, 1052.5, 1445]
      - name: "中间点对"
        point1: [3446.5, 1053, -1445]
        point2: [3446.5, 1053, 1445]
      - name: "后端点对"
        point1: [8146.5, 1053, -1445]
        point2: [8146.5, 1053, 1445]

    # 最近点搜索半径(mm)
    search_radius: 10.0