lipan
29f1d45d66
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
311 lines
12 KiB
Python
311 lines
12 KiB
Python
"""flatness-suite 算法适配器 (v1.5)。
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v1.5 变更：
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- 算法目录从 alg/point_porj → alg/平整度、平面度、轮廓测量v1.5
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- 新增 car_part_v1/ 多车型 STEP CAD 模板
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- run_contour 新增 Excel 报表输出（excel_output_path）
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- pipeline 新增 result_template_path / combined_context_pointcloud_path 参数
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约定：
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- module=all：plane + curvature（contour 需要 CAD STL，缺失时跳过）
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- module=plane：只跑平面拟合
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- module=curvature：只跑曲率估计
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- module=contour：需要 CAD STL，缺失时报错
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"""
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from __future__ import annotations
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import copy
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import os
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import sys
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import traceback
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from pathlib import Path
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from typing import Any
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sys.path.insert(0, str(Path(__file__).parent))
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from _plugin_io import (
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emit_progress,
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first_pointcloud,
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load_input,
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write_error_result,
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write_result,
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)
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def _safe_float(v: object) -> float | None:
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try:
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return float(v) # type: ignore[arg-type]
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except (TypeError, ValueError):
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return None
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def _find_alg_dir(alg_root: str) -> Path:
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"""定位平整度算法目录，支持多个历史版本路径，优先使用最新版。"""
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candidates = [
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Path(alg_root) / "平整度、平面度、轮廓测量v1.5",
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Path(alg_root) / "point_porj",
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Path(alg_root) / "平整度、平面度、轮廓测量v1.2" / "point_porj",
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Path(alg_root) / "平整度、平面度、轮廓测量" / "point_porj",
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]
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for c in candidates:
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if c.is_dir() and (c / "pipeline.py").exists():
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return c
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raise RuntimeError(
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f"找不到平整度算法目录，已尝试：\n"
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+ "\n".join(f" {c}" for c in candidates)
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+ "\n请确认 alg/ 下已解压 平整度、平面度、轮廓测量v1.5/。"
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)
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def _build_pipeline(alg_dir: Path, pc_path: str, out_dir: Path, params: dict) -> Any:
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"""初始化 MeasurementPipeline，注入点云路径和输出路径。"""
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# 把 alg_dir 加到 sys.path，让 pipeline.py 能 import 同级模块
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alg_dir_str = str(alg_dir)
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if alg_dir_str not in sys.path:
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sys.path.insert(0, alg_dir_str)
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from pipeline import MeasurementPipeline # type: ignore
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# 加载内置 config.yaml，然后覆盖关键路径
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pipeline = MeasurementPipeline(config_path=None)
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# 注入点云路径
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pipeline.config["paths"]["pointcloud"] = pc_path
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# 注入输出路径（curvature_output 写到 outDir）
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pipeline.config["paths"]["curvature_output"] = str(out_dir / "curvature.ply")
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# 关闭可视化（无显示器）
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pipeline.config["visualization"]["enabled"] = False
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# 用户参数覆盖
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voxel_size = _safe_float(params.get("voxelSizeMm"))
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if voxel_size is not None:
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pipeline.config["filters"]["voxel_size"] = voxel_size / 1000.0 # mm → m
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threshold_mm = _safe_float(params.get("thresholdMm"))
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if threshold_mm is not None:
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pipeline.config["plane"]["threshold_mm"] = threshold_mm
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return pipeline
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def main() -> int:
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payload = load_input(sys.argv)
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inputs = payload.get("inputs") or {}
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config = inputs.get("config") or {}
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out_dir = Path(payload["outDir"])
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out_dir.mkdir(parents=True, exist_ok=True)
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try:
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alg_root = os.environ.get("ALG_ROOT") or os.environ.get("ALG_ROOT_HOST") or "/alg"
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emit_progress(0.05, "定位 point_porj 算法目录")
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alg_dir = _find_alg_dir(alg_root)
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pc_path_raw = first_pointcloud(payload)
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emit_progress(0.10, f"读取点云：{os.path.basename(pc_path_raw)}")
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# ── ROI 裁剪（整车点云场景下必须填写，否则算法极慢）──────────────────────
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def _f(key: str) -> float | None:
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v = config.get(key)
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try:
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return float(v) if v is not None and str(v).strip() != "" else None
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except (TypeError, ValueError):
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return None
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x_min, x_max = _f("roiXMin"), _f("roiXMax")
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y_min, y_max = _f("roiYMin"), _f("roiYMax")
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z_min, z_max = _f("roiZMin"), _f("roiZMax")
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has_roi = any(v is not None for v in (x_min, x_max, y_min, y_max, z_min, z_max))
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if has_roi:
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emit_progress(0.12, "ROI 裁剪中…")
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import numpy as np
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import open3d as o3d # type: ignore
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pcd = o3d.io.read_point_cloud(pc_path_raw)
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pts = np.asarray(pcd.points)
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mask = np.ones(len(pts), dtype=bool)
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if x_min is not None: mask &= pts[:, 0] >= x_min
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if x_max is not None: mask &= pts[:, 0] <= x_max
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if y_min is not None: mask &= pts[:, 1] >= y_min
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if y_max is not None: mask &= pts[:, 1] <= y_max
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if z_min is not None: mask &= pts[:, 2] >= z_min
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if z_max is not None: mask &= pts[:, 2] <= z_max
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n_total, n_crop = len(pts), int(mask.sum())
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if n_crop == 0:
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raise RuntimeError(
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f"ROI 裁剪后无点（原始 {n_total} 点），请检查坐标范围是否正确。"
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)
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cropped = pcd.select_by_index(np.where(mask)[0])
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roi_ply = out_dir / "_roi_cropped.ply"
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# 二进制写出，算法用 o3d 读所以支持二进制，比 ASCII 快很多
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o3d.io.write_point_cloud(str(roi_ply), cropped, write_ascii=False)
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pc_path_raw = str(roi_ply)
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emit_progress(0.14, f"ROI 裁剪完成：{n_total} → {n_crop} 点")
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# v1.5 用 o3d.io.read_point_cloud 读取，直接支持二进制 PLY，无需转 ASCII
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pc_path = pc_path_raw
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module = str(config.get("module") or "all")
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emit_progress(0.15, f"初始化 MeasurementPipeline（module={module}）")
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pipeline = _build_pipeline(alg_dir, pc_path, out_dir, config)
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measurements: list[dict] = []
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extra: dict[str, Any] = {"module": module}
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skipped: list[str] = []
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# ── plane ──────────────────────────────────────────────────────────────
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if module in ("all", "plane"):
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emit_progress(0.30, "平面拟合 (RANSAC)")
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try:
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res = pipeline.run_plane(
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pointcloud_path=pc_path,
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threshold_mm=_safe_float(config.get("thresholdMm")),
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no_visualize=True,
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)
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pr = res.get("plane_result")
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if pr is not None:
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rmse_mm = float(pr.rmse) * 1000.0 # m → mm
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measurements += [
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{
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"name": "平面 RMSE",
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"value": round(rmse_mm, 4),
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"unit": "mm",
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"status": "pass" if rmse_mm <= 1.0 else "warning" if rmse_mm <= 2.0 else "fail",
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},
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{
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"name": "内点率",
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"value": round(float(pr.inlier_ratio), 2),
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"unit": "%",
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"status": "pass" if pr.inlier_ratio >= 80 else "warning" if pr.inlier_ratio >= 60 else "fail",
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},
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{
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"name": "法向角误差",
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"value": round(float(pr.normal_angle_deg), 4),
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"unit": "deg",
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"status": "info",
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},
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]
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extra["planeModel"] = list(pr.model) if pr.model else None
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except Exception as exc:
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skipped.append(f"plane: {exc}")
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# ── curvature ──────────────────────────────────────────────────────────
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if module in ("all", "curvature"):
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emit_progress(0.55, "曲率估计")
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try:
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res = pipeline.run_curvature(
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pointcloud_path=pc_path,
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no_visualize=True,
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)
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curvatures = res.get("curvatures")
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if curvatures is not None:
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import numpy as np
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measurements += [
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{
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"name": "曲率均值",
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"value": round(float(np.mean(curvatures)), 6),
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"unit": "1/mm",
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"status": "info",
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},
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{
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"name": "曲率最大值",
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"value": round(float(np.max(curvatures)), 6),
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"unit": "1/mm",
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"status": "info",
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},
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]
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# 保存曲率点云路径
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curv_ply = out_dir / "curvature.ply"
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if curv_ply.exists():
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extra["curvaturePly"] = "curvature.ply"
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except Exception as exc:
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skipped.append(f"curvature: {exc}")
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# ── contour ────────────────────────────────────────────────────────────
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if module in ("all", "contour"):
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emit_progress(0.75, "轮廓-平整度（需 CAD STL）")
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cad_path = inputs.get("cadPath") or None
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mesh_path = inputs.get("meshPath") or None
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if not cad_path and not mesh_path:
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skipped.append("contour: 未提供 CAD STL/STEP，跳过")
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else:
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try:
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save_path = str(out_dir / "contour.ply")
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excel_path = str(out_dir / "contour.xlsx")
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res = pipeline.run_contour(
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pointcloud_path=pc_path,
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cad_path=cad_path,
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mesh_path=mesh_path,
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save_path=save_path,
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excel_output_path=excel_path,
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no_visualize=True,
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)
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stats = res.get("distance_stats")
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for key, label, unit in [
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("mean", "轮廓偏差均值", "mm"),
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("max", "轮廓偏差最大值", "mm"),
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("std", "轮廓偏差标准差", "mm"),
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]:
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v = _safe_float(getattr(stats, key, None) if stats is not None else None)
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if v is not None:
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measurements.append({
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"name": label,
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"value": round(v, 4),
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"unit": unit,
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"status": "info",
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})
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if Path(save_path).exists():
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extra["contourPly"] = "contour.ply"
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except Exception as exc:
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skipped.append(f"contour: {exc}")
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emit_progress(0.95, "整理结果")
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# 3D 叠加层：优先 contour PLY，其次 curvature PLY
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overlay3d: dict = {"kind": "none"}
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for ply_key in ("contourPly", "curvaturePly"):
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if ply_key in extra:
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overlay3d = {"kind": "vertexColors", "url": extra[ply_key]}
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break
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if skipped:
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extra["skipped"] = skipped
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status_vals = [m.get("status") for m in measurements]
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overall = (
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"fail" if "fail" in status_vals
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else "warning" if "warning" in status_vals
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else "completed"
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)
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payload_out = {
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"schemaVersion": 1,
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"status": overall,
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"message": (
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f"完成 {len(measurements)} 项测量。"
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+ (f" 跳过：{'; '.join(skipped)}" if skipped else "")
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),
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"measurements": measurements,
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"overlay3d": overlay3d,
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"extra": extra,
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}
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write_result(out_dir, payload_out)
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emit_progress(1.0, "完成")
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return 0
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except Exception as exc:
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traceback.print_exc()
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write_error_result(
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out_dir,
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f"flatness-suite 计算失败：{exc}",
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extra={"traceback": traceback.format_exc()},
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)
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return 1
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if __name__ == "__main__":
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sys.exit(main())
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