{
  "id": "vehicle-registration",
  "name": "整车配准",
  "shortName": "vehicle-registration",
  "description": "将整车扫描点云与标准 STEP CAD 进行配准（v1.3）。v1.3 新增 ICP 精配准、CAD 采样缓存加速、配准误差统计（RMSE/p95）。配准完成后，对齐点云自动加入任务点云列表，供后续测量算法选用。",
  "version": "1.3.0",
  "schemaVersion": 1,
  "category": "配准",
  "requiresPointCloud": true,
  "requiresCad": true,
  "inputs": [
    {
      "name": "axis",
      "label": "车辆长度轴",
      "type": "select",
      "default": "x",
      "options": [
        { "value": "x", "label": "X 轴" },
        { "value": "y", "label": "Y 轴" },
        { "value": "z", "label": "Z 轴" }
      ],
      "description": "扫描坐标系中车辆纵向（车头→车尾）对应的轴。"
    },
    {
      "name": "cropRatio",
      "label": "车头/车尾截取比例",
      "type": "number",
      "default": 0.01,
      "min": 0.005,
      "max": 0.15,
      "step": 0.005,
      "description": "从点云两端各取此比例的长度范围用于质心估算。数据干净时 0.01 即可；噪声多时可适当加大。"
    },
    {
      "name": "scalePointcloud",
      "label": "点云缩放系数",
      "type": "number",
      "default": 1.0,
      "min": 0.001,
      "max": 1000.0,
      "step": 0.001,
      "description": "点云单位与 CAD 单位不一致时使用。例如点云为米、CAD 为毫米，填 1000。"
    },
    {
      "name": "cadSamplePoints",
      "label": "CAD 采样点数",
      "type": "integer",
      "default": 30000,
      "min": 5000,
      "max": 500000,
      "description": "从 CAD mesh 均匀采样的点数。点数越多精度越高，耗时也越长。"
    },
    {
      "name": "localSamplePoints",
      "label": "端部局部采样点数",
      "type": "integer",
      "default": 1000,
      "min": 100,
      "max": 20000,
      "description": "车头/车尾区域用于质心计算的最远点采样数。"
    },
    {
      "name": "useIcp",
      "label": "ICP 精配准",
      "type": "boolean",
      "default": true,
      "description": "平移对齐后再做一轮 ICP 精配准（v1.3 新增）。通常可进一步减小配准误差，耗时约增加 30–60 秒。"
    },
    {
      "name": "icpSamplePoints",
      "label": "ICP 采样点数",
      "type": "integer",
      "default": 200000,
      "min": 10000,
      "max": 1000000,
      "description": "ICP 配准时使用的点数。越多精度越高，耗时也越长。"
    },
    {
      "name": "computeErrorStats",
      "label": "计算配准误差统计",
      "type": "boolean",
      "default": true,
      "description": "配准后抽样计算点云到 CAD 的距离误差（RMSE / p95 / p99），用于评估配准质量。"
    },
    {
      "name": "useCadCache",
      "label": "缓存 CAD 采样",
      "type": "boolean",
      "default": true,
      "description": "缓存 CAD 三角化采样结果，同一 CAD 文件第二次配准时跳过耗时的 STEP 解析，大幅加速。"
    }
  ],
  "runtime": {
    "kind": "process",
    "cmd": [
      "{pythonBin}",
      "{adapterDir}/vehicle_registration_run.py",
      "{inputJson}"
    ],
    "envExtra": {
      "PYTHONPATH": "{algRoot}/整车配准v1.3",
      "LD_LIBRARY_PATH": "/lib/x86_64-linux-gnu:/usr/local/nvidia/lib:/usr/local/nvidia/lib64"
    },
    "timeoutMs": 1800000
  }
}