# 列车测量任务配置文件 - 使用原始点云（未配准）
# 测试所有任务在原始点云上的表现
# 点云文件路径
pointcloud_file: "/home/suzhe/pcc/train_models/train_2_1T.ply"

# ROI提取配置 - 使用优化Grid索引
roi_extraction:
  method: "grid"              # 使用Grid网格索引
  use_optimized: true         # 使用优化版（numpy向量化，快75倍）
  grid_size: 100.0            # 网格大小100mm

# 性能预期:
#   - 索引构建: 223秒 (一次性)
#   - ROI提取: 0.19秒/任务 (vs Linear的14秒/任务)
#   - 20任务总时间: ~12分钟 (vs Linear的13分钟)
#   - 提升: 约7% (1分钟)

# 测量任务列表
tasks:
  - name: "任务21_侧门高度"
    type: "line_to_plane"  # TODO: 改为 line_to_line
    enabled: true
    description: "测量侧门顶部边缘线到底部边缘线的距离"
    #2176.7 - 2176.4
    theoretical_dimension: 2176.4
    tolerance:
      upper: 4
      lower: 1

    # 源边缘线ROI（侧门顶部边缘）
    source_roi:
      line_start: [-2460, 3356.43, -1511.26]
      line_end: [-1821.05, 3356.43, -1511.26]

    # 目标边缘线ROI（侧门底部边缘）
    target_roi:
      bbox_min: [-2500, 1177, -1621]
      bbox_max: [-1500, 1183, -1500]

    params:
      sample_points: 100
      ransac_threshold: 2.0
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6
      roi_distance_threshold: 0.02  # 精筛选距离阈值(mm)


  - 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"
    theoretical_dimension: 26507    # 理论尺寸
    tolerance:  10
    # visualization_dir: "visualizations_0617"
    source_roi:
      bbox_min: [-14009, 1500, -900]
      bbox_max: [-14005, 1700, 900]

    target_roi:
      bbox_min: [12497, 1070, -1300]
      bbox_max: [12503, 1160, 1300]

    params:
      sample_points: 100
      ransac_threshold: 0.1
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6

  - name: "任务43_窗口下沿高度"
    type: "line_to_plane"  # TODO: 改为 line_to_plane
    enabled: true
    description: "测量窗口下沿边缘线到地面的距离"
    theoretical_dimension: 803
    tolerance:
      upper: 6.5
      lower: -4

    # 源边缘线ROI（窗口下沿边缘）
    source_roi:
      line_start: [933.37,1983,-1676.62]
      line_end: [2114.6,1983,-1676.62]

    # 目标平面ROI（地面）
    target_roi:
      bbox_min: [-10222, 1179, -302]
      bbox_max: [12428, 1181, 302]

    params:
      sample_points: 100
      ransac_threshold: 0.5
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6
      roi_distance_threshold: 0.02  # 精筛选距离阈值(mm)

  - 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"
    theoretical_dimension: 2800    # 理论尺寸
    tolerance:
      upper: 7
      lower: -1                    # 公差 ±3mm
    source_roi:
      bbox_min: [2000, 3979, -14]
      bbox_max: [5000, 3981, 14]

    target_roi:
      bbox_min: [100, 1177, -1510]
      bbox_max: [11000, 1183, -1420]

    params:
      sample_points: 100
      ransac_threshold: 0.1
      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: false
  #   description: "测量边梁立面6个精确点到z=0平面的距离"
  #   mode: "exact_points"
  #   theoretical_dimension: 1445    # 理论尺寸
  #   tolerance:
  #     upper: 0
  #     lower: -2                    # 公差 ±3mm
  #   # 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"
    theoretical_dimension: 1680    # 理论尺寸
    tolerance:
      upper: -2
      lower: -6                    # 公差 ±3mm
    # 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）"
  #   theoretical_dimension: 2890    # 理论尺寸
  #   tolerance:
  #     upper: 0
  #     lower: -4                    # 公差 ±3mm
  #   # 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

  - name: "任务1_转向架距离"
    type: "point_to_point + hole_center"
    enabled: true
    description: "测量两对定位孔的x距离，作为转向架间距离"
    theoretical_dimension: 17800
    tolerance: 2
    boxes:
      - name: "左前"
        min: [-8944,1020,-1507]
        max: [-8846,1040,-1401]
      - name: "右前"
        min: [-8947,1020,1400]
        max: [-8847,1040,1507]
      - name: "左后"
        min: [8850,1020,-1551]
        max: [8955,1040,-1450]
      - name: "右后"
        min: [8850,1020,1450]
        max: [8950,1040,1552]

  # - name: "任务6_转向架未加工支撑面到参考线距离"
  #   type: "plane_to_plane + 4_hole_center"
  #   enabled: false
  #   description: "四个孔定位参考线平面，转向架支撑面用ROI框定"
  #   theoretical_dimension: 65
  #   tolerance:
  #     upper: 8.5
  #     lower: -3
  #   visualization_dir: "visualizations_0617"
  #   boxes:
  #     - name: "左上孔"
  #       min: [11631,1010,155]
  #       max: [11674,1055,210]
  #     - name: "右上孔"
  #       min: [11631,1010,-210]
  #       max: [11674,1055,-155]
  #     - name: "左下孔"
  #       min: [11631,812,155]
  #       max: [11674,857,205]
  #     - name: "右下孔"
  #       min: [11631,812,-205]
  #       max: [11674,857,-155]
  #     - name: "左加工面"
  #       min: [-9189,998,1405]
  #       max: [-8993,1002,1501]
  #     - name: "右加工面"
  #       min: [-9191,998,-1500]
  #       max: [-8990,1002,-1410]
  #   params:
  #     sample_points: 100
  #     ransac_threshold: 0.1
  #     ransac_max_iterations: 1000
  #     min_inlier_ratio: 0.6

  - name: "任务7_边梁下平面到参考线的距离"
    type: "plane_to_plane + 4_hole_center"
    enabled: true
    description: "四个孔定位参考平面，边梁下平面用ROI指定"
    theoretical_dimension: 85
    tolerance:
      upper: 8.5
      lower: -3
    # visualization_dir: "visualizations_0617"
    boxes:
      - name: "左上孔"
        min: [11631,1015,159]
        max: [11674,1050,206]
      - name: "右上孔"
        min: [11631,1015,-201]
        max: [11674,1050,-157]
      - name: "左下孔"
        min: [11631,817,160]
        max: [11674,852,200]
      - name: "右下孔"
        min: [11631,817,-200]
        max: [11674,852,-160]
      - name: "左平面"
        min: [8847,1017,-1629]
        max: [8876,1023,-1548]
      - name: "右平面"
        min: [8862,1017,1593]
        max: [8944,1023,1624]
    params:
      sample_points: 100
      ransac_threshold: 0.1
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6

  - name: "任务18_门口宽度"
    type: "plane_to_plane"
    enabled: true
    description: "乘客门口宽度"
    theoretical_dimension: 1070    # 理论尺寸
    tolerance:
      upper: 3
      lower: 0
    # 源平面（采样点的来源）
    source_roi:
      bbox_min: [-2552, 1390, 1402]
      bbox_max: [-2551, 3080, 1577]

    # 目标平面（测量距离的目标）
    target_roi:
      bbox_min: [-1482, 1400, 1513]
      bbox_max: [-1481, 3120, 1591]
    params:
      sample_points: 100
      ransac_threshold: 0.1
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6
      check_width_variation: true         # 启用宽度差值检查（任务19）
      width_variation_tolerance: 2.0      # 差值公差 ±2mm


  - name: "任务28_端门口宽度"
    type: "plane_to_plane"
    description: "后部门口宽度"
    theoretical_dimension: 900    # 理论尺寸
    tolerance:
      upper: 2
      lower: 0
    # 源平面（采样点的来源）
    source_roi:
      bbox_min: [12428, 1244, -451]
      bbox_max: [12480, 3070, -449]

    # 目标平面（测量距离的目标）
    target_roi:
      bbox_min: [12428, 1278, 449]
      bbox_max: [12480, 3090, 451]
    params:
      sample_points: 100
      ransac_threshold: 0.1
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6

  - name: "任务29_端门口高度"
    type: "plane_to_plane"
    description: "后部门口高度"
    theoretical_dimension: 2050    # 理论尺寸
    tolerance:
      upper: 5
      lower: 0
    # 源平面（采样点的来源）
    source_roi:
      bbox_min: [12424, 3229, -330]
      bbox_max: [12486, 3231, 330]

    # 目标平面（测量距离的目标）
    target_roi:
      bbox_min: [12440, 1179, -440]
      bbox_max: [12490, 1181, 440]
    params:
      sample_points: 100
      ransac_threshold: 0.05
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6

  - name: "任务32_司机室登车门门口宽度"
    type: "line_to_line"  # TODO: 改为 line_to_line
    enabled: true
    description: "司机室门口宽度（左右两条边缘线之间的距离）"
    # 566 - 566.6
    theoretical_dimension: 566.6
    tolerance:
      upper: 3
      lower: 0

    # 源边缘线ROI（门口左侧边缘）
    source_roi:
      line_start: [-8177.85,1650.33,-1541.48]
      line_end: [-8177.85,2448.88,-1499.63]

    # 目标边缘线ROI（门口右侧边缘）
    target_roi:
      line_start: [-8744.48,1727.71,-1537.42]
      line_end: [-8744.48,2421.28,-1501.08]

    params:
      sample_points: 100
      ransac_threshold: 2.0
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6
      roi_distance_threshold: 0.02  # 精筛选距离阈值(mm)

  - name: "任务33_司机室登车门门口高度"
    type: "line_to_line"  # TODO: 改为 line_to_line
    enabled: true
    description: "司机室门口高度（上下两条边缘线之间的距离）"
    #  1687 - 1687.1
    theoretical_dimension: 1687.1
    tolerance:
      upper: 3
      lower: 0

    # 源边缘线ROI（门口上边缘）
    source_roi:
      line_start: [-8630.24,2994.7,-1467.83]
      line_end: [-8280.89,2994.7,-1467.83]

    # 目标边缘线ROI（门口下边缘）
    target_roi:
      line_start: [-8625.48,1309.87,-1555.36]
      line_end: [-8301.7,1309.87,-1555.36]

    params:
      sample_points: 100
      ransac_threshold: 2.0
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6
      roi_distance_threshold: 0.02  # 精筛选距离阈值(mm)

  # - name: "任务14_侧墙相对纵梁的角度位置"
  #   type: "point_to_plane"
  #   description: "包围盒提取窗口上沿，选取z绝对值最大的10个点，计算到z=1445平面的距离"
  #   mode: "bbox_filtered"
  #   theoretical_dimension: 179.3    # 理论尺寸
  #   tolerance:
  #     upper: 2
  #     lower: -4                    # 公差 ±3mm
  #   # 包围盒列表
  #   bboxes:
  #     - name: "左窗口上沿"
  #       min: [1136, 2700, 1620]
  #       max: [1713, 2745, 1630]
  #   # 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: -1445

  - name: "任务30_参考线到司机室辅助孔距离"
    type: "point_to_plane + 4_hole_center + 1_hole_center"
    enabled: true
    description: "4孔定参考线平面，1孔定辅助孔位置，点到面"
    theoretical_dimension: 308.5
    tolerance: 2
    boxes:
      - name: "左上孔"
        min: [11631,1015,159]
        max: [11674,1050,206]
      - name: "右上孔"
        min: [11631,1015,-201]
        max: [11674,1050,-157]
      - name: "左下孔"
        min: [11631,817,160]
        max: [11674,852,200]
      - name: "右下孔"
        min: [11631,817,-200]
        max: [11674,852,-160]
      - name: "辅助孔"
        min: [-13308, 620, -5]
        max: [-13296, 630, 5]

  - name: "任务16_车体最大宽度"
    type: "point_to_point"
    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，他们z距离之差"
    mode: "bbox_filtered"
    theoretical_dimension: 3360
    tolerance:
      upper: -4
      lower: -10
    # 包围盒列表
    bboxes:
      - name: "左侧墙"
        min: [-1468, 1890, -1680]
        max: [12300, 1910, -1677]
      - name: "右侧墙"
        min: [-1468, 1890, 1677]
        max: [12300, 1900, 1680]

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

  - name: "任务47_内端墙门口高"
    type: "plane_to_plane"
    enabled: true
    description: "车体内部神秘横梁高度"
    theoretical_dimension: 2200
    tolerance:
      upper: 2
      lower: 0
    # 源平面（采样点的来源）
    source_roi:
      bbox_min: [-98, 3379, -1000]
      bbox_max: [-77, 3381, 1000]

    # 目标平面（测量距离的目标）
    target_roi:
      bbox_min: [-1000, 1179, -300]
      bbox_max: [1000, 1181, 300]
    params:
      sample_points: 100
      ransac_threshold: 0.1
      ransac_max_iterations: 1000
      min_inlier_ratio: 0.6

  - name: "任务46_车体横断面对角线差值"
    type: "point_to_point"
    enabled: true
    description: "对角线距离作差"
    theoretical_dimension: 0  # 理论差值为0
    tolerance: 0.1
    # visualization_dir: "visualizations"

    mode: "exact_points"

    # 定义两条对角线的点对
    point_pairs:
      - name: "对角线1"
        point1: [3500, 1180, 1541.42]      # 左下角
        point2: [3500, 2961.83, -1543.02]  # 右上角

      - name: "对角线2"
        point1: [3500, 1180, -1541.42]     # 右下角
        point2: [3500, 2961.85, 1543.02]   # 左上角

    # 查找最近点的搜索半径（mm）
    search_radius: 10.0

    # 差值比较配置
    compare_mode: "difference"           # 启用差值比较模式
    compare_pairs: [0, 1]                # 比较对角线1和对角线2的距离
    difference_tolerance: 0.1            # 差值阈值：2mm