修改算法，获取了单根钢筋

.gitignore

@@ -1,4 +1,7 @@
 .claude
 nul
 build
-Algo/DetectHole/Export/
+Algo/DetectHole/Export
+Algo/DetectBarIntersection/build
+Algo/DetectBarIntersection/data
+Algo/DetectBarIntersection/Export

Algo/DetectBarIntersection/CMakeLists.txt

@@ -5,15 +5,24 @@ project(DetectBarIntersection VERSION 1.0.0 LANGUAGES CXX)
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+if(CMAKE_CONFIGURATION_TYPES)
+    string(REPLACE ";" ", " DETECTBARINTERSECTION_CONFIGURATION_LIST "${CMAKE_CONFIGURATION_TYPES}")
+    set(DETECTBARINTERSECTION_BUILD_DESCRIPTION "Multi-config (${DETECTBARINTERSECTION_CONFIGURATION_LIST})")
+else()
+    set(DETECTBARINTERSECTION_BUILD_DESCRIPTION "${CMAKE_BUILD_TYPE}")
+endif()
+
+if(NOT DETECTBARINTERSECTION_BUILD_DESCRIPTION)
+    set(DETECTBARINTERSECTION_BUILD_DESCRIPTION "Not specified")
+endif()
+
 if(WIN32)
 	if(MSVC)
 		add_compile_options(
 			/wd4267
 			/wd4996
+			$<$<CONFIG:Release>:/O2>
 		)
-		if(CMAKE_BUILD_TYPE STREQUAL "Release")
-			add_compile_options(/O2)
-		endif()
 	endif()
 else()
 	if(CMAKE_BUILD_TYPE STREQUAL "Debug")
@@ -235,7 +244,7 @@ endif()
 message(STATUS "")
 message(STATUS "DetectBarIntersection Configuration Summary:")
 message(STATUS "  C++ Standard: ${CMAKE_CXX_STANDARD}")
-message(STATUS "  Build Type: ${CMAKE_BUILD_TYPE}")
+message(STATUS "  Build Type: ${DETECTBARINTERSECTION_BUILD_DESCRIPTION}")
 message(STATUS "  Eigen3 Include: ${EIGEN3_INCLUDE_DIR}")
 message(STATUS "  OpenMP Enabled: ${ENABLE_OPENMP}")
 message(STATUS "  Build Examples: ${BUILD_EXAMPLES}")

Algo/DetectBarIntersection/build.bat

@@ -1,26 +1,33 @@
 @echo off
-setlocal
+setlocal EnableExtensions
 
-echo === Building DetectBarIntersection ===
+set "BUILD_CONFIG=Debug"
 
-if not exist build (
+if not "%~1"=="" (
-    mkdir build
+    if /I "%~1"=="Debug" (
+        set "BUILD_CONFIG=Debug"
+    ) else if /I "%~1"=="Release" (
+        set "BUILD_CONFIG=Release"
+    ) else (
+        echo Usage: %~nx0 [Debug^|Release]
+        exit /b 1
+    )
 )
 
-cd build
+echo === Building DetectBarIntersection [%BUILD_CONFIG%] ===
 
-cmake .. -G "Visual Studio 17 2022" -A x64
+cmake -S . -B build -G "Visual Studio 17 2022" -A x64
 
-if %ERRORLEVEL% NEQ 0 (
+if errorlevel 1 (
     echo CMake configuration failed!
     exit /b %ERRORLEVEL%
 )
 
-cmake --build . --config Debug
+cmake --build build --config %BUILD_CONFIG%
 
-if %ERRORLEVEL% NEQ 0 (
+if errorlevel 1 (
     echo Build failed!
     exit /b %ERRORLEVEL%
 )
 
-echo === Build completed successfully ===
+echo === Build completed successfully [%BUILD_CONFIG%] ===

Algo/DetectBarIntersection/examples/CMakeLists.txt

@@ -10,6 +10,6 @@ endif()
 
 message(STATUS "")
 message(STATUS "Examples Configuration:")
-message(STATUS "  Build Type: ${CMAKE_BUILD_TYPE}")
+message(STATUS "  Build Type: ${DETECTBARINTERSECTION_BUILD_DESCRIPTION}")
 message(STATUS "  DetectBarIntersection Root: ${DETECTBARINTERSECTION_ROOT}")
 message(STATUS "")

Algo/DetectBarIntersection/examples/visualization_demo/CMakeLists.txt

@@ -60,14 +60,25 @@ if(VTK_FOUND)
 
         # Copy VTK DLLs
         file(GLOB VTK_DLLS "${VTK_BIN_DIR}/*.dll")
+        set(VTK_DEBUG_DLLS)
+        set(VTK_RELEASE_DLLS)
         foreach(vtk_dll ${VTK_DLLS})
-            add_custom_command(TARGET visualization_demo POST_BUILD
+            get_filename_component(vtk_dll_name "${vtk_dll}" NAME)
-                COMMAND ${CMAKE_COMMAND} -E copy_if_different
+            if(vtk_dll_name MATCHES "d\\.dll$")
-                "${vtk_dll}"
+                list(APPEND VTK_DEBUG_DLLS "${vtk_dll}")
-                "$<TARGET_FILE_DIR:visualization_demo>"
+            else()
-                COMMENT "Copying VTK DLL: ${vtk_dll}"
+                list(APPEND VTK_RELEASE_DLLS "${vtk_dll}")
-            )
+            endif()
         endforeach()
+
+        add_custom_command(TARGET visualization_demo POST_BUILD
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different
+            "$<$<CONFIG:Debug>:${VTK_DEBUG_DLLS}>"
+            "$<$<NOT:$<CONFIG:Debug>>:${VTK_RELEASE_DLLS}>"
+            "$<TARGET_FILE_DIR:visualization_demo>"
+            COMMAND_EXPAND_LISTS
+            COMMENT "Copying configuration-matched VTK DLLs to visualization_demo output directory"
+        )
     endif()
 else()
     message(WARNING "VTK not found. visualization_demo will not be built.")

Algo/DetectBarIntersection/examples/visualization_demo/VisualizationDemo.cpp

@@ -224,7 +224,7 @@ int ProcessSingleFile(
     debugCallbacks.onPlaneSegmented = nullptr;// OnPlaneSegmented;
     debugCallbacks.onPointsAligned = nullptr;// OnPointsAligned;
     debugCallbacks.onPlaneFiltered = nullptr;// OnPlaneFiltered;
-    debugCallbacks.onClustersDetected = OnClustersDetected;
+    debugCallbacks.onClustersDetected = nullptr;// OnClustersDetected;
     debugCallbacks.userData = &callbackData;
 
     // Set parameters

Algo/DetectBarIntersection/include/BarIntersectionParams.h

@@ -1,4 +1,4 @@
-#ifndef BAR_INTERSECTION_PARAMS_H
+#ifndef BAR_INTERSECTION_PARAMS_H
 #define BAR_INTERSECTION_PARAMS_H
 
 #include "VZNL_Types.h"
@@ -31,12 +31,28 @@ struct SGrowthParams {
     float thresholdY;       // 行内分段阈值：同行相邻点 y 的最大允许差 (mm)
     float thresholdZ;       // 行内分段阈值：同行相邻点 z 的最大允许差 (mm)
     int minClusterSize;     // 最小簇点数
+    float angleSearchDistance;
+    int residualSmoothWindow;
+    float maxAxisDeviationFromXYDeg;  // Max allowed axis deviation from the XY plane (deg)
+    float maxPerpendicularDeviationDeg;  // Max deviation from 90 deg for centroid-connection test
+    int minContinuousValidPointCount;     // Min consecutive valid points kept on each laser line after plane filtering; <=1 disables
+    float maxContinuousPointZTolerance;   // Max z difference between adjacent points inside one valid run (mm)
+    float minBarDiameter;
+	float maxBarDiameter;
 
     SGrowthParams()
         : thresholdX(5.0f)
         , thresholdY(5.0f)
         , thresholdZ(5.0f)
         , minClusterSize(20)
+        , angleSearchDistance(2.f)
+		, residualSmoothWindow(5)
+        , maxAxisDeviationFromXYDeg(50.0f)
+        , maxPerpendicularDeviationDeg(50.0f)
+        , minContinuousValidPointCount(0)
+        , maxContinuousPointZTolerance(5.0f)
+        , minBarDiameter(10.0f)
+		, maxBarDiameter(30.0f)
     {}
 };
 

Algo/DetectBarIntersection/src/BarIntersection.cpp

@@ -1,6 +1,7 @@
 #include "BarIntersection.h"
 #include "PlaneAlignment.h"
 #include "RegionGrowing.h"
+#include <Eigen/Dense>
 #include <vector>
 #include <cstring>
 #include <iostream>
@@ -9,7 +10,7 @@
 #include <numeric>
 #include <limits>
 
-static const char* s_algorithmVersion = "2.0.0";
+static const char* s_algorithmVersion = "1.0.0";
 static const char* s_algorithmName = "BarIntersectionDetection";
 
 static bool IsValidPoint(const SVzNLPointXYZ& pt) {
@@ -17,7 +18,107 @@ static bool IsValidPoint(const SVzNLPointXYZ& pt) {
     return !(std::abs(pt.x) < eps && std::abs(pt.y) < eps && std::abs(pt.z) < eps);
 }
 
-BAR_INTERSECTION_API int DetectBarIntersections(
+static void ClearPoint(SVzNLPointXYZ* pt) {
+    if (!pt) {
+        return;
+    }
+
+    pt->x = 0.0f;
+    pt->y = 0.0f;
+    pt->z = 0.0f;
+}
+
+static void ClearShortContinuousSegment(
+    SVzNLPointXYZ* rowPoints,
+    int startCol,
+    int segmentLength,
+    int minContinuousValidPointCount
+) {
+    if (!rowPoints || startCol < 0 || segmentLength <= 0) {
+        return;
+    }
+
+    if (segmentLength >= minContinuousValidPointCount) {
+        return;
+    }
+
+    for (int offset = 0; offset < segmentLength; ++offset) {
+        ClearPoint(&rowPoints[startCol + offset]);
+    }
+}
+
+static void FilterLaserLineNoiseInPlace(
+    SVzNLPointXYZ* alignedPoints,
+    int rows,
+    int cols,
+    int minContinuousValidPointCount,
+    float maxContinuousPointZTolerance
+) {
+    if (!alignedPoints || rows <= 0 || cols <= 0) {
+        return;
+    }
+
+    if (minContinuousValidPointCount <= 1 || maxContinuousPointZTolerance < 0.0f) {
+        return;
+    }
+
+    for (int row = 0; row < rows; ++row) {
+        SVzNLPointXYZ* rowPoints = alignedPoints + row * cols;
+        int segmentStartCol = -1;
+        int segmentLength = 0;
+        float prevZ = 0.0f;
+
+        for (int col = 0; col < cols; ++col) {
+            const SVzNLPointXYZ& pt = rowPoints[col];
+            if (!IsValidPoint(pt)) {
+                ClearShortContinuousSegment(
+                    rowPoints,
+                    segmentStartCol,
+                    segmentLength,
+                    minContinuousValidPointCount
+                );
+                segmentStartCol = -1;
+                segmentLength = 0;
+                prevZ = 0.0f;
+                continue;
+            }
+
+            if (segmentLength <= 0) {
+                segmentStartCol = col;
+                segmentLength = 1;
+                prevZ = pt.z;
+                continue;
+            }
+
+            const float zDiff = std::abs(pt.z - prevZ);
+            if (zDiff <= maxContinuousPointZTolerance) {
+                ++segmentLength;
+                prevZ = pt.z;
+                continue;
+            }
+
+            ClearShortContinuousSegment(
+                rowPoints,
+                segmentStartCol,
+                segmentLength,
+                minContinuousValidPointCount
+            );
+
+            segmentStartCol = col;
+            segmentLength = 1;
+            prevZ = pt.z;
+        }
+
+        ClearShortContinuousSegment(
+            rowPoints,
+            segmentStartCol,
+            segmentLength,
+            minContinuousValidPointCount
+        );
+    }
+}
+
+int DetectBarIntersections(
     const SVzNLPointXYZ* points,
     int rows,
     int cols,
@@ -107,6 +208,17 @@ BAR_INTERSECTION_API int DetectBarIntersections(
         alignedPoints, totalPoints, planeZ, planeParams.heightThreshold
     );
 
+    // ============================================
+    // Step 2b: 按激光线过滤短连续段噪点
+    // ============================================
+    FilterLaserLineNoiseInPlace(
+        alignedPoints,
+        rows,
+        cols,
+        growthParams.minContinuousValidPointCount,
+        growthParams.maxContinuousPointZTolerance
+    );
+
     // Debug callback: plane filtered
     if (debugCallbacks && debugCallbacks->onPlaneFiltered) {
         // 收集非零点用于回调显示
@@ -137,7 +249,10 @@ BAR_INTERSECTION_API int DetectBarIntersections(
     // ============================================
     std::vector<SGrowthCluster> clusters;
     bar_intersection::RegionGrowClusters(
-        alignedPoints, rows, cols, growthParams, clusters
+        alignedPoints, rows, cols, true, growthParams, clusters
+    );
+    bar_intersection::RegionGrowClusters(
+        alignedPoints, rows, cols, false, growthParams, clusters
     );
 
     // ============================================

Algo/DetectBarIntersection/src/RegionGrowing.cpp

@@ -1,10 +1,13 @@
-#include "RegionGrowing.h"
+#include "RegionGrowing.h"
 
 #include <algorithm>
 #include <cmath>
 #include <limits>
 #include <vector>
 
+#undef min
+#undef max
+
 namespace bar_intersection {
 
 struct SGridPoint {
@@ -111,8 +114,405 @@ static void FinalizeSegment(SLineSegment& seg) {
     }
 }
 
-static bool HasColumnOverlapOrTouch(const SLineSegment& a, const SLineSegment& b) {
+struct SSegmentRelationResult {
-    return !(b.endCol < a.startCol - 1 || a.endCol < b.startCol - 1);
+    bool hasMatch;
+    float bestDistanceSq;
+};
+
+struct SCarrySegmentState {
+    bool hasMatch;
+};
+
+static SSegmentRelationResult EvaluateSegmentRelation(
+    const SLineSegment& prevSeg,
+    const SLineSegment& currSeg,
+    const SGrowthParams& params
+) {
+    SSegmentRelationResult result;
+    result.hasMatch = false;
+    result.bestDistanceSq = std::numeric_limits<float>::max();
+
+    const float centroidDistanceThresholdSq =
+        params.thresholdX * params.thresholdX +
+        params.thresholdY * params.thresholdY +
+        params.thresholdZ * params.thresholdZ;
+
+    const float dx = currSeg.centroid.x - prevSeg.centroid.x;
+    const float dy = currSeg.centroid.y - prevSeg.centroid.y;
+    const float dz = currSeg.centroid.z - prevSeg.centroid.z;
+    const float distanceSq = dx * dx + dy * dy + dz * dz;
+    if (distanceSq < centroidDistanceThresholdSq) {
+        result.hasMatch = true;
+        result.bestDistanceSq = distanceSq;
+    }
+
+    return result;
+}
+
+enum class EPanelType {
+    YZ_PANEL,
+    XZ_PANEL
+};
+
+/**
+ * @brief Per-point signed angle state along one scanned line
+ */
+enum ELineAngleTrend {
+    keLineAngleTrend_Invalid = 0,
+    keLineAngleTrend_Flat = 1,
+    keLineAngleTrend_PositiveJump = 2,
+    keLineAngleTrend_NegativeJump = 3
+};
+
+static bool IsValidPoint(const SVzNLPointXYZ& pt) {
+    const float eps = 1e-6f;
+    return !(std::abs(pt.x) < eps && std::abs(pt.y) < eps && std::abs(pt.z) < eps);
+}
+
+void EvaluateLine(
+    const SVzNLPointXYZ* points,
+    int count,
+    int step,
+    int startIdx,
+    int cols,
+    const SGrowthParams& params,
+    std::vector<SLineSegment>& currRowSegments,
+    bool& bIsInvalidLine,
+    EPanelType panelType
+) {
+    currRowSegments.clear();
+    if (count < 3) return;
+
+    constexpr float kPi = 3.14159265358979323846f;
+    const float searchDist = params.angleSearchDistance;
+    const float posThresh = params.maxAxisDeviationFromXYDeg;
+    const float negThresh = -params.maxPerpendicularDeviationDeg;
+
+    // YZ_PANEL: coord=y, XZ_PANEL: coord=x
+    auto getCoord = [panelType](const SVzNLPointXYZ& pt) -> float {
+        return (panelType == EPanelType::YZ_PANEL) ? pt.y : pt.x;
+        };
+
+    auto planeDist = [panelType](const SVzNLPointXYZ& a, const SVzNLPointXYZ& b) -> float {
+        float dz = a.z - b.z;
+        float dc = (panelType == EPanelType::YZ_PANEL) ? (a.y - b.y) : (a.x - b.x);
+        return std::sqrt(dc * dc + dz * dz);
+        };
+
+    // ================================================================
+    // Step 1: per-point angle computation
+    // ================================================================
+    struct PointInfo {
+        SVzNLPointXYZ point;
+        int row;
+        int col;
+        int globalIdx;
+        bool valid;
+        float signedAngleDeg;
+        bool hasAngle;
+        ELineAngleTrend trend;
+    };
+
+    std::vector<PointInfo> pts(count);
+    auto curPoint = points;
+    for (int i = 0; i < count; i++) {
+        int gIdx = startIdx + i * step;
+        pts[i].point = *curPoint;
+        pts[i].row = gIdx / cols;
+        pts[i].col = gIdx % cols;
+        pts[i].globalIdx = gIdx;
+        pts[i].valid = IsValidPoint(*curPoint);
+        pts[i].signedAngleDeg = 0.0f;
+        pts[i].hasAngle = false;
+        pts[i].trend = keLineAngleTrend_Invalid;
+
+        if (pts[i].valid) {
+            bIsInvalidLine = false;
+        }
+
+        curPoint += step;
+    }
+
+    for (int i = 0; i < count; i++) {
+        if (!pts[i].valid) continue;
+
+        const SVzNLPointXYZ& cur = pts[i].point;
+
+        // backward reference: walk toward index 0
+        bool foundBack = false;
+        float backCoord = 0.0f, backMeanZ = 0.0f;
+        {
+            float sumZ = 0.0f;
+            int zCnt = 0;
+            for (int j = i - 1; j >= 0; j--) {
+                if (!pts[j].valid) continue;
+                sumZ += pts[j].point.z;
+                zCnt++;
+                if (planeDist(cur, pts[j].point) >= searchDist) {
+                    backCoord = getCoord(pts[j].point);
+                    backMeanZ = sumZ / static_cast<float>(zCnt);
+                    foundBack = true;
+                    break;
+                }
+            }
+        }
+
+        // forward reference: walk toward index count-1
+        bool foundFwd = false;
+        float fwdCoord = 0.0f, fwdMeanZ = 0.0f;
+        {
+            float sumZ = 0.0f;
+            int zCnt = 0;
+            for (int j = i + 1; j < count; j++) {
+                if (!pts[j].valid) continue;
+                sumZ += pts[j].point.z;
+                zCnt++;
+                if (planeDist(cur, pts[j].point) >= searchDist) {
+                    fwdCoord = getCoord(pts[j].point);
+                    fwdMeanZ = sumZ / static_cast<float>(zCnt);
+                    foundFwd = true;
+                    break;
+                }
+            }
+        }
+
+        if (!foundBack || !foundFwd) continue;
+
+        pts[i].hasAngle = true;
+
+        // 局部弯折强度：line1(backRef→cur) 延长后 与 line2(cur→fwdRef) 的夹角绝对值。
+        // 与旧方案（backRef→fwdRef 整体坡度角）的本质区别：
+        //   均匀倾斜面（无弯折）→ 0°；只有在 pts[i] 处发生方向变化时才得到非零角。
+        // signedAngleDeg 的语义：
+        //   符号 = 整体跳变方向（按坐标正向统一；低→高为正，高→低为负）
+        //   绝对值 = pts[i] 处的局部弯折强度
+        float curCoord = getCoord(cur);
+        float v1_coord = curCoord - backCoord;   // backRef → cur（水平分量）
+        float v1_z = cur.z - backMeanZ;   // backRef → cur（z 分量）
+        float v2_coord = fwdCoord - curCoord;    // cur → fwdRef（水平分量）
+        float v2_z = fwdMeanZ - cur.z;       // cur → fwdRef（z 分量）
+
+        // 2D 叉积（z 分量）和点积，用于计算有符号夹角
+        float cross2d = v1_coord * v2_z - v1_z * v2_coord;
+        float dot2d = v1_coord * v2_coord + v1_z * v2_z;
+        // 消除扫描方向（正向/反向）对整体跳变方向符号的影响
+        float scanDirSign = ((v1_coord + v2_coord) >= 0.0f) ? 1.0f : -1.0f;
+        float bendAngleDeg = std::atan2(std::fabs(cross2d), dot2d) * (180.0f / kPi);
+        float overallDeltaZ = (fwdMeanZ - backMeanZ) * scanDirSign;
+        float slopeAngleDeg = 0.0f;
+        if (overallDeltaZ > 1e-6f) {
+            slopeAngleDeg = bendAngleDeg;
+        }
+        else if (overallDeltaZ < -1e-6f) {
+            slopeAngleDeg = -bendAngleDeg;
+        }
+
+        pts[i].signedAngleDeg = slopeAngleDeg;
+
+        if (slopeAngleDeg > posThresh) {
+            pts[i].trend = keLineAngleTrend_PositiveJump;
+        }
+        else if (slopeAngleDeg < negThresh) {
+            pts[i].trend = keLineAngleTrend_NegativeJump;
+        }
+        else {
+            pts[i].trend = keLineAngleTrend_Flat;
+        }
+    }
+
+    // 角度平滑：滑动窗口均值，抑制点级噪声
+    // Fix3: 先保存原始角度，平滑后对所有"原始角度已超阈"的点强制恢复特征分类，
+    //       防止平滑窗口把窄孔洞两侧的异号角度互相抵消，导致真实边缘被压回 Flat。
+    {
+        // 保存平滑前的原始角度
+        std::vector<float> rawAngles(count, 0.0f);
+        for (int i = 0; i < count; i++) {
+            rawAngles[i] = pts[i].signedAngleDeg;
+        }
+
+        int smoothW = params.residualSmoothWindow;
+        if (smoothW > 1) {
+            int halfW = smoothW / 2;
+            std::vector<float> smoothed(count, 0.0f);
+            for (int i = 0; i < count; i++) {
+                if (!pts[i].hasAngle) continue;
+                float sum = 0.0f;
+                int cnt = 0;
+                for (int j = std::max(0, i - halfW); j <= std::min(count - 1, i + halfW); j++) {
+                    if (pts[j].hasAngle) {
+                        sum += pts[j].signedAngleDeg;
+                        cnt++;
+                    }
+                }
+                if (cnt > 0) smoothed[i] = sum / static_cast<float>(cnt);
+            }
+            for (int i = 0; i < count; i++) {
+                if (!pts[i].hasAngle) continue;
+                pts[i].signedAngleDeg = smoothed[i];
+                if (smoothed[i] > posThresh)
+                    pts[i].trend = keLineAngleTrend_PositiveJump;
+                else if (smoothed[i] < negThresh)
+                    pts[i].trend = keLineAngleTrend_NegativeJump;
+                else
+                    pts[i].trend = keLineAngleTrend_Flat;
+            }
+        }
+
+        // Fix3: 若原始角度已超过检测阈值，平滑窗口不应将其压回 Flat。
+        // 原始角度由 searchDist 参考点计算，本身已具备一定的抗噪能力。
+        // 平滑窗口在孔洞两侧引入异号角度交叉干扰，会把窄孔洞的边缘信号抹平：
+        //   - 孔洞入射侧的 Desc 角被出射侧的正角平均拉升，可能越过 negThresh；
+        //   - 孔洞出射侧的 Asc 角被入射侧的负角平均拉低，可能跌破 posThresh。
+        // 保护原则：raw 超阈 → 强制保留为特征点；raw 未超阈 → 允许平滑结果覆盖。
+        for (int i = 0; i < count; i++) {
+            if (!pts[i].hasAngle) continue;
+            float raw = rawAngles[i];
+            if (raw > posThresh && pts[i].trend != keLineAngleTrend_PositiveJump) {
+                pts[i].signedAngleDeg = raw;
+                pts[i].trend = keLineAngleTrend_PositiveJump;
+            }
+            else if (raw < negThresh && pts[i].trend != keLineAngleTrend_NegativeJump) {
+                pts[i].signedAngleDeg = raw;
+                pts[i].trend = keLineAngleTrend_NegativeJump;
+            }
+        }
+    }
+
+    // ================================================================
+    // Step 2: group consecutive same-trend points into segments
+    // ================================================================
+    enum class ESegType { Flat, Ascending, Descending, Gap };
+
+    struct Segment {
+        ESegType type;
+        int startPos;
+        int endPos;
+        float avgAngle;
+        float length;
+    };
+
+    std::vector<Segment> segs;
+    {
+        int idx = 0;
+        while (idx < count) {
+            // gap segment: consecutive invalid points
+            if (!pts[idx].valid) {
+                int s = idx;
+                while (idx < count && !pts[idx].valid) idx++;
+                Segment seg;
+                seg.type = ESegType::Gap;
+                seg.startPos = s;
+                seg.endPos = idx - 1;
+                seg.avgAngle = 0.0f;
+                seg.length = 0.0f;
+                segs.push_back(seg);
+                continue;
+            }
+
+            ESegType stype;
+            if (pts[idx].trend == keLineAngleTrend_PositiveJump)
+                stype = ESegType::Ascending;
+            else if (pts[idx].trend == keLineAngleTrend_NegativeJump)
+                stype = ESegType::Descending;
+            else
+                stype = ESegType::Flat;
+
+            int s = idx;
+            float aSum = pts[idx].signedAngleDeg;
+            int aCnt = 1;
+            idx++;
+
+            while (idx < count && pts[idx].valid) {
+                ESegType ntype;
+                if (pts[idx].trend == keLineAngleTrend_PositiveJump)
+                    ntype = ESegType::Ascending;
+                else if (pts[idx].trend == keLineAngleTrend_NegativeJump)
+                    ntype = ESegType::Descending;
+                else
+                    ntype = ESegType::Flat;
+
+                if (ntype != stype) break;
+                aSum += pts[idx].signedAngleDeg;
+                aCnt++;
+                idx++;
+            }
+
+            float len = 0.0f;
+            for (int k = s; k < idx - 1; k++) {
+                if (pts[k].valid && pts[k + 1].valid)
+                    len += planeDist(pts[k].point, pts[k + 1].point);
+            }
+
+            Segment seg;
+            seg.type = stype;
+            seg.startPos = s;
+            seg.endPos = idx - 1;
+            seg.avgAngle = aSum / static_cast<float>(aCnt);
+            seg.length = len;
+            segs.push_back(seg);
+        }
+    }
+
+    // 短段合并：单点的 Ascending/Descending 段视为噪声，合并回 Flat
+    // 例外：紧邻 Gap 段的单点 Asc/Desc 是孔洞边缘的真实信号，不应消除
+    {
+        for (size_t k = 0; k < segs.size(); k++) {
+            auto& seg = segs[k];
+            if (seg.type != ESegType::Flat && seg.type != ESegType::Gap) {
+                int segLen = seg.endPos - seg.startPos + 1;
+                if (segLen < 2) {
+                    bool adjToGap = (k > 0 && segs[k - 1].type == ESegType::Gap)
+                        || (k + 1 < segs.size() && segs[k + 1].type == ESegType::Gap);
+                    if (!adjToGap) {
+                        seg.type = ESegType::Flat;
+                    }
+                }
+            }
+        }
+        // 合并相邻的 Flat 段
+        std::vector<Segment> merged;
+        for (const auto& seg : segs) {
+            if (!merged.empty() && merged.back().type == ESegType::Flat && seg.type == ESegType::Flat) {
+                merged.back().endPos = seg.endPos;
+                merged.back().length += seg.length;
+            }
+            else {
+                merged.push_back(seg);
+            }
+        }
+        segs = merged;
+    }
+
+    const float minBarDiameter = params.minBarDiameter;
+    const float maxBarDiameter = params.maxBarDiameter;
+    for (size_t si = 0; si < segs.size(); ++si) {
+        const Segment& seg = segs[si];
+        if (seg.type != ESegType::Flat) continue;
+        if (seg.length < minBarDiameter || seg.length > maxBarDiameter) continue;
+
+        bool hasPoint = false;
+        SLineSegment lineSeg;
+        for (int pos = seg.startPos; pos <= seg.endPos; ++pos) {
+            if (!pts[pos].valid) continue;
+
+            SGridPoint gp;
+            gp.row = pts[pos].row;
+            gp.col = pts[pos].col;
+            gp.linearIdx = pts[pos].globalIdx;
+
+            if (!hasPoint) {
+                lineSeg = StartNewSegment(gp, pts[pos].point);
+                hasPoint = true;
+            }
+            else {
+                AppendPoint(lineSeg, gp, pts[pos].point);
+            }
+        }
+
+        if (!hasPoint) continue;
+        FinalizeSegment(lineSeg);
+        currRowSegments.push_back(lineSeg);
+    }
 }
 
 static void ProcessCurrentRowSegmentPoint(
@@ -128,6 +528,10 @@ static void ProcessCurrentRowSegmentPoint(
     const float eps = 1e-6f;
     const int cols = static_cast<int>(pointCount);
     const int rowOffset = row * cols;
+    const float segmentDistanceThresholdSq =
+        params.thresholdX * params.thresholdX +
+        params.thresholdY * params.thresholdY +
+        params.thresholdZ * params.thresholdZ;
 
     bool hasOpenSegment = false;
     SLineSegment openSeg;
@@ -152,10 +556,12 @@ static void ProcessCurrentRowSegmentPoint(
 
         const SGridPoint& lastGp = openSeg.points.back();
         const SVzNLPointXYZ& lastPt = point[lastGp.col];
-        float dy = std::abs(pt.y - lastPt.y);
+        const float dx = pt.x - lastPt.x;
-        float dz = std::abs(pt.z - lastPt.z);
+        const float dy = pt.y - lastPt.y;
+        const float dz = pt.z - lastPt.z;
+        const float distanceSq = dx * dx + dy * dy + dz * dz;
 
-        if (dy < params.thresholdY && dz < params.thresholdZ) {
+        if (distanceSq < segmentDistanceThresholdSq) {
             AppendPoint(openSeg, gp, pt);
             continue;
         }
@@ -173,42 +579,31 @@ static void ProcessCurrentRowSegmentPoint(
 
 static void MergeCurrentRowSegments(
     const std::vector<SLineSegment>& prevRowSegments,
+    const std::vector<SLineSegment>& carriedRowSegments,
     std::vector<SLineSegment>& currRowSegments,
     UnionFind& uf,
-    const SGrowthParams& params
+    const SGrowthParams& params,
+    std::vector<SLineSegment>& nextCarriedRowSegments
 ) {
-    if (currRowSegments.empty()) {
+    nextCarriedRowSegments.clear();
-        return;
+    std::vector<SCarrySegmentState> prevStates(prevRowSegments.size(), SCarrySegmentState{ false });
-    }
+    std::vector<SCarrySegmentState> carriedStates(carriedRowSegments.size(), SCarrySegmentState{ false });
-
-    bool rowsAdjacent = false;
-    if (!prevRowSegments.empty()) {
-        rowsAdjacent = (currRowSegments[0].row == prevRowSegments[0].row + 1);
-    }
 
     for (size_t ci = 0; ci < currRowSegments.size(); ++ci) {
         SLineSegment& currSeg = currRowSegments[ci];
         std::vector<int> matchedRoots;
         int bestRoot = -1;
-        float bestDx = std::numeric_limits<float>::max();
+        float bestDistanceSq = std::numeric_limits<float>::max();
 
-        if (rowsAdjacent) {
+        auto tryMatchSegments = [&](const std::vector<SLineSegment>& candidateSegments, std::vector<SCarrySegmentState>& candidateStates) {
-            for (size_t pi = 0; pi < prevRowSegments.size(); ++pi) {
+            for (size_t pi = 0; pi < candidateSegments.size(); ++pi) {
-                const SLineSegment& prevSeg = prevRowSegments[pi];
+                const SLineSegment& prevSeg = candidateSegments[pi];
-                if (!HasColumnOverlapOrTouch(prevSeg, currSeg)) {
+                const SSegmentRelationResult relation = EvaluateSegmentRelation(prevSeg, currSeg, params);
-                    continue;
+                if (!relation.hasMatch) {
-                }
-
-                const float dx = std::abs(currSeg.centroid.x - prevSeg.centroid.x);
-                if (dx >= params.thresholdX) {
-                    continue;
-                }
-
-                const float dz = std::abs(currSeg.centroid.z - prevSeg.centroid.z);
-                if (dz >= params.thresholdZ) {
                     continue;
                 }
 
+                candidateStates[pi].hasMatch = true;
                 const int root = uf.Find(prevSeg.treeId);
                 bool found = false;
                 for (size_t m = 0; m < matchedRoots.size(); ++m) {
@@ -221,12 +616,15 @@ static void MergeCurrentRowSegments(
                     matchedRoots.push_back(root);
                 }
 
-                if (dx < bestDx) {
+                if (relation.bestDistanceSq < bestDistanceSq) {
-                    bestDx = dx;
+                    bestDistanceSq = relation.bestDistanceSq;
                     bestRoot = root;
                 }
             }
-        }
+        };
+
+        tryMatchSegments(prevRowSegments, prevStates);
+        tryMatchSegments(carriedRowSegments, carriedStates);
 
         if (matchedRoots.empty()) {
             currSeg.treeId = uf.MakeSet();
@@ -239,6 +637,20 @@ static void MergeCurrentRowSegments(
         }
         currSeg.treeId = uf.Find(currSeg.treeId);
     }
+
+    for (size_t pi = 0; pi < prevRowSegments.size(); ++pi) {
+        const SLineSegment& prevSeg = prevRowSegments[pi];
+        if (!prevStates[pi].hasMatch) {
+            nextCarriedRowSegments.push_back(prevSeg);
+        }
+    }
+
+    for (size_t pi = 0; pi < carriedRowSegments.size(); ++pi) {
+        const SLineSegment& carriedSeg = carriedRowSegments[pi];
+        if (!carriedStates[pi].hasMatch) {
+            nextCarriedRowSegments.push_back(carriedSeg);
+        }
+    }
 }
 
 static void FlattenTreesToClusters(
@@ -321,11 +733,10 @@ int RegionGrowClusters(
     const SVzNLPointXYZ* points,
     int rows,
     int cols,
+	bool bHorizontalScan,
     const SGrowthParams& params,
     std::vector<SGrowthCluster>& outClusters
 ) {
-    outClusters.clear();
-
     if (!points || cols <= 0 || rows <= 0) {
         return 0;
     }
@@ -333,24 +744,83 @@ int RegionGrowClusters(
     UnionFind uf;
     std::vector<SLineSegment> allSegments;
     std::vector<SLineSegment> prevRowSegments;
+    std::vector<SLineSegment> carriedRowSegments;
+    std::vector<SLineSegment> nextCarriedRowSegments;
     std::vector<SLineSegment> currRowSegments;
 
-    for (int row = 0; row < rows; ++row) {
+    if (bHorizontalScan)
-        const SVzNLPointXYZ* rowPoints = points + row * cols;
+    {
+        int nPointIdx = 0;
+        const SVzNLPointXYZ* rowPoints = points;
+        for (int row = 0; row < rows; ++row) {
+            bool bIsValidLine = false;
+            EvaluateLine(
+                rowPoints,
+                static_cast<unsigned int>(cols),
+                1,
+                nPointIdx,
+                cols,
+                params,
+                currRowSegments,
+                bIsValidLine,
+                EPanelType::YZ_PANEL
+            );
 
-        ProcessCurrentRowSegmentPoint(
+            MergeCurrentRowSegments(
-            rowPoints,
+                prevRowSegments,
-            static_cast<unsigned int>(cols),
+                carriedRowSegments,
-            row,
+                currRowSegments,
-            params,
+                uf,
-            currRowSegments
+                params,
-        );
+                nextCarriedRowSegments
+            );
+            allSegments.insert(allSegments.end(), currRowSegments.begin(), currRowSegments.end());
 
-        MergeCurrentRowSegments(prevRowSegments, currRowSegments, uf, params);
+            carriedRowSegments.swap(nextCarriedRowSegments);
-        allSegments.insert(allSegments.end(), currRowSegments.begin(), currRowSegments.end());
+            nextCarriedRowSegments.clear();
+            prevRowSegments.swap(currRowSegments);
+            currRowSegments.clear();
 
-        prevRowSegments.swap(currRowSegments);
+			nPointIdx += cols;
-        currRowSegments.clear();
+            rowPoints += cols;
+        }
+    }
+    else
+    {
+        int nPointIdx = 0;
+        const SVzNLPointXYZ* colPoints = points;
+        for (int col = 0; col < cols; ++col) {
+
+            bool bIsValidLine = false;
+            EvaluateLine(
+                colPoints,
+                rows,
+                cols,
+                nPointIdx,
+                cols,
+                params,
+                currRowSegments,
+                bIsValidLine,
+                EPanelType::XZ_PANEL
+            );
+
+            MergeCurrentRowSegments(
+                prevRowSegments,
+                carriedRowSegments,
+                currRowSegments,
+                uf,
+                params,
+                nextCarriedRowSegments
+            );
+            allSegments.insert(allSegments.end(), currRowSegments.begin(), currRowSegments.end());
+
+            carriedRowSegments.swap(nextCarriedRowSegments);
+            nextCarriedRowSegments.clear();
+            prevRowSegments.swap(currRowSegments);
+            currRowSegments.clear();
+            colPoints++;
+            nPointIdx++;
+        }
     }
     
     FlattenTreesToClusters(allSegments, uf, points, params, outClusters);

Algo/DetectBarIntersection/src/RegionGrowing.h

@@ -1,4 +1,4 @@
-#ifndef REGION_GROWING_H
+#ifndef REGION_GROWING_H
 #define REGION_GROWING_H
 
 #include "VZNL_Types.h"
@@ -28,6 +28,7 @@ int RegionGrowClusters(
     const SVzNLPointXYZ* points,
     int rows,
     int cols,
+	bool bHorizontalScan,
     const SGrowthParams& params,
     std::vector<SGrowthCluster>& outClusters
 );

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)
     {
     }
 };

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

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)
     {}
 };