From 0d888587388810385bb29017b6dda178658c387e Mon Sep 17 00:00:00 2001
From: cool609 <co609@163.com>
Date: Tue, 7 Apr 2026 22:56:18 +0800
Subject: [PATCH] =?UTF-8?q?1.0.3=E5=A2=9E=E5=8A=A0=E4=BA=86=E7=82=B9?=
 =?UTF-8?q?=E5=88=B0=E5=B9=B3=E9=9D=A2=E7=9A=84=E5=8F=82=E6=95=B0=E8=B0=83?=
 =?UTF-8?q?=E6=95=B4?=
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---
 .gitignore                                    | 5 ++++-
 Algo/DetectHole/include/HoleDetectionParams.h | 3 +++
 Algo/DetectHole/src/HoleDetection.cpp         | 3 ++-
 Algo/DetectHole/src/PlaneSegmentation.h       | 2 +-
 4 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/.gitignore b/.gitignore
index 03001c0..f5e8f95 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,7 @@
 .claude
 nul
 build
-Algo/DetectHole/Export/
+Algo/DetectHole/Export
+Algo/DetectBarIntersection/build
+Algo/DetectBarIntersection/data
+Algo/DetectBarIntersection/Export
\ No newline at end of file
diff --git a/Algo/DetectHole/include/HoleDetectionParams.h b/Algo/DetectHole/include/HoleDetectionParams.h
index 2ad406a..1e7d536 100644
--- a/Algo/DetectHole/include/HoleDetectionParams.h
+++ b/Algo/DetectHole/include/HoleDetectionParams.h
@@ -16,6 +16,8 @@ struct RansacPlaneSegmentationParams {
     float minPlaneRatio;        // 平面最小点数占比 (相对最大平面), 建议 0.05-0.2
     float maxNormalAngleDeg;    // 平面法向量与Z轴最大夹角 (度), 超过则直接丢弃; <=0 表示不过滤
 
+	float maxDistFromPlane;	    // 点到平面的最大允许距离；超出则从 pointIndices 中移除；<=0 表示不过滤
+
     RansacPlaneSegmentationParams()
         : distanceThreshold(0.5f)
         , maxIterations(500)
@@ -24,6 +26,7 @@ struct RansacPlaneSegmentationParams {
         , growthZThreshold(1.0f)
         , minPlaneRatio(0.1f)
         , maxNormalAngleDeg(30.0f)
+        , maxDistFromPlane(1.f)
     {
     }
 };
diff --git a/Algo/DetectHole/src/HoleDetection.cpp b/Algo/DetectHole/src/HoleDetection.cpp
index a067ee3..08464d8 100644
--- a/Algo/DetectHole/src/HoleDetection.cpp
+++ b/Algo/DetectHole/src/HoleDetection.cpp
@@ -12,7 +12,7 @@
 namespace {
 
     const static char* g_algo_name = "DetectHole";
-    const static char* g_algo_ver = "1.0.2";
+    const static char* g_algo_ver = "1.0.3";
 
 
 	void PrintHoleResult(const SHoleResult& hole, int index) {
@@ -196,6 +196,7 @@ int DetectMultipleHoles(
 
     // ============ Step 2: 法向量过滤 ============
     NormalFilterParams normalParams;
+    normalParams.maxDistFromPlane = ransacParams.maxDistFromPlane;
     FilterPlanesByNormal(planes, normalParams, points, totalPointCount);
 
     // 如果没有找到有效平面，回退到处理整个点云
diff --git a/Algo/DetectHole/src/PlaneSegmentation.h b/Algo/DetectHole/src/PlaneSegmentation.h
index b4d4bd2..7725df7 100644
--- a/Algo/DetectHole/src/PlaneSegmentation.h
+++ b/Algo/DetectHole/src/PlaneSegmentation.h
@@ -298,7 +298,7 @@ struct NormalFilterParams {
         , refNx(0.0f)
         , refNy(0.0f)
         , refNz(1.0f)
-        , maxDistFromPlane(2.0f)
+        , maxDistFromPlane(0.0f)
     {}
 };