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

@@ -1,23 +1,32 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.10)
-project(DetectBarIntersection VERSION 1.0.0 LANGUAGES CXX)
+project(DetectBarIntersection VERSION 1.0.0 LANGUAGES CXX)
-
+
-# Set C++ standard
+# Set C++ standard
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
+
-if(WIN32)
+if(CMAKE_CONFIGURATION_TYPES)
-	if(MSVC)
+    string(REPLACE ";" ", " DETECTBARINTERSECTION_CONFIGURATION_LIST "${CMAKE_CONFIGURATION_TYPES}")
-		add_compile_options(
+    set(DETECTBARINTERSECTION_BUILD_DESCRIPTION "Multi-config (${DETECTBARINTERSECTION_CONFIGURATION_LIST})")
-			/wd4267
+else()
-			/wd4996
+    set(DETECTBARINTERSECTION_BUILD_DESCRIPTION "${CMAKE_BUILD_TYPE}")
-		)
+endif()
-		if(CMAKE_BUILD_TYPE STREQUAL "Release")
+
-			add_compile_options(/O2)
+if(NOT DETECTBARINTERSECTION_BUILD_DESCRIPTION)
-		endif()
+    set(DETECTBARINTERSECTION_BUILD_DESCRIPTION "Not specified")
-	endif()
+endif()
-else()
+
-	if(CMAKE_BUILD_TYPE STREQUAL "Debug")
+if(WIN32)
-		message(STATUS "Debug mode: Adding debug flags")
+	if(MSVC)
+		add_compile_options(
+			/wd4267
+			/wd4996
+			$<$<CONFIG:Release>:/O2>
+		)
+	endif()
+else()
+	if(CMAKE_BUILD_TYPE STREQUAL "Debug")
+		message(STATUS "Debug mode: Adding debug flags")
 		set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g -O0 -Wall -Wextra")
 		add_definitions(-DDEBUG)
 	elseif(CMAKE_BUILD_TYPE STREQUAL "Release")
@@ -232,11 +241,11 @@ if(BUILD_EXAMPLES)
 endif()
 
 # Print configuration summary
-message(STATUS "")
+message(STATUS "")
-message(STATUS "DetectBarIntersection Configuration Summary:")
+message(STATUS "DetectBarIntersection Configuration Summary:")
-message(STATUS "  C++ Standard: ${CMAKE_CXX_STANDARD}")
+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 "  Eigen3 Include: ${EIGEN3_INCLUDE_DIR}")
-message(STATUS "  OpenMP Enabled: ${ENABLE_OPENMP}")
+message(STATUS "  OpenMP Enabled: ${ENABLE_OPENMP}")
-message(STATUS "  Build Examples: ${BUILD_EXAMPLES}")
+message(STATUS "  Build Examples: ${BUILD_EXAMPLES}")
-message(STATUS "")
+message(STATUS "")

Algo/DetectBarIntersection/build.bat

@@ -1,26 +1,33 @@
-@echo off
+@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" (
-cd build
+        set "BUILD_CONFIG=Release"
-
+    ) else (
-cmake .. -G "Visual Studio 17 2022" -A x64
+        echo Usage: %~nx0 [Debug^|Release]
-
+        exit /b 1
-if %ERRORLEVEL% NEQ 0 (
+    )
-    echo CMake configuration failed!
+)
-    exit /b %ERRORLEVEL%
+
-)
+echo === Building DetectBarIntersection [%BUILD_CONFIG%] ===
-
+
-cmake --build . --config Debug
+cmake -S . -B build -G "Visual Studio 17 2022" -A x64
-
+
-if %ERRORLEVEL% NEQ 0 (
+if errorlevel 1 (
-    echo Build failed!
+    echo CMake configuration failed!
-    exit /b %ERRORLEVEL%
+    exit /b %ERRORLEVEL%
-)
+)
-
+
-echo === Build completed successfully ===
+cmake --build build --config %BUILD_CONFIG%
+
+if errorlevel 1 (
+    echo Build failed!
+    exit /b %ERRORLEVEL%
+)
+
+echo === Build completed successfully [%BUILD_CONFIG%] ===

Algo/DetectBarIntersection/examples/CMakeLists.txt

@@ -8,8 +8,8 @@ if(WIN32)
     add_subdirectory(visualization_demo)
 endif()
 
-message(STATUS "")
+message(STATUS "")
-message(STATUS "Examples Configuration:")
+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 "  DetectBarIntersection Root: ${DETECTBARINTERSECTION_ROOT}")
-message(STATUS "")
+message(STATUS "")

Algo/DetectBarIntersection/examples/visualization_demo/BarIntersectionVisualizer.h

@@ -54,11 +54,11 @@ public:
         const std::string& title = "Detection Result"
     );
 
-    /** @brief Visualize best cluster highlighted (filtered aligned points) */
+    /** @brief Visualize best cluster highlighted (filtered aligned points) */
-    void VisualizeBestCluster(
+    void VisualizeBestCluster(
-        const SBarIntersectionResult& result,
+        const SBarIntersectionResult& result,
-        const std::string& title = "Best Cluster"
+        const std::string& title = "Best Cluster"
-    );
+    );
 
     void SetInteractive(bool interactive);
     void SetOutputDirectory(const std::string& dir);

Algo/DetectBarIntersection/examples/visualization_demo/CMakeLists.txt

@@ -48,27 +48,38 @@ if(VTK_FOUND)
         ${VTK_LIBRARIES}
     )
 
-    if(WIN32)
+    if(WIN32)
-        add_custom_command(TARGET visualization_demo POST_BUILD
+        add_custom_command(TARGET visualization_demo POST_BUILD
-            COMMAND ${CMAKE_COMMAND} -E copy_if_different
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different
-            "$<TARGET_FILE:BarIntersectionLib>"
+            "$<TARGET_FILE:BarIntersectionLib>"
-            "$<TARGET_FILE_DIR:visualization_demo>"
+            "$<TARGET_FILE_DIR:visualization_demo>"
             COMMENT "Copying BarIntersectionLib DLL to visualization_demo output directory"
         )
 
-        set(VTK_BIN_DIR "${DETECTBARINTERSECTION_ROOT}/../../3rdparty/VTK-8.2.0/bin")
+        set(VTK_BIN_DIR "${DETECTBARINTERSECTION_ROOT}/../../3rdparty/VTK-8.2.0/bin")
-
+
-        # Copy VTK DLLs
+        # Copy VTK DLLs
-        file(GLOB VTK_DLLS "${VTK_BIN_DIR}/*.dll")
+        file(GLOB VTK_DLLS "${VTK_BIN_DIR}/*.dll")
-        foreach(vtk_dll ${VTK_DLLS})
+        set(VTK_DEBUG_DLLS)
-            add_custom_command(TARGET visualization_demo POST_BUILD
+        set(VTK_RELEASE_DLLS)
-                COMMAND ${CMAKE_COMMAND} -E copy_if_different
+        foreach(vtk_dll ${VTK_DLLS})
-                "${vtk_dll}"
+            get_filename_component(vtk_dll_name "${vtk_dll}" NAME)
-                "$<TARGET_FILE_DIR:visualization_demo>"
+            if(vtk_dll_name MATCHES "d\\.dll$")
-                COMMENT "Copying VTK DLL: ${vtk_dll}"
+                list(APPEND VTK_DEBUG_DLLS "${vtk_dll}")
-            )
+            else()
-        endforeach()
+                list(APPEND VTK_RELEASE_DLLS "${vtk_dll}")
-    endif()
+            endif()
-else()
+        endforeach()
-    message(WARNING "VTK not found. visualization_demo will not be built.")
+
-endif()
+        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.")
+endif()

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

@@ -1,93 +1,109 @@
-#ifndef BAR_INTERSECTION_PARAMS_H
+#ifndef BAR_INTERSECTION_PARAMS_H
-#define BAR_INTERSECTION_PARAMS_H
+#define BAR_INTERSECTION_PARAMS_H
-
+
-#include "VZNL_Types.h"
+#include "VZNL_Types.h"
-#include <vector>
+#include <vector>
-
+
-/**
+/**
- * @brief RANSAC 平面分割参数
+ * @brief RANSAC 平面分割参数
- */
+ */
-struct SPlaneSegmentationParams {
+struct SPlaneSegmentationParams {
-    float distanceThreshold;    // 点到平面距离阈值 (mm)
+    float distanceThreshold;    // 点到平面距离阈值 (mm)
-    int maxIterations;          // RANSAC 最大迭代次数
+    int maxIterations;          // RANSAC 最大迭代次数
-    int minPlanePoints;         // 最小平面点数
+    int minPlanePoints;         // 最小平面点数
-    float minPlaneRatio;        // 平面最小点数占比
+    float minPlaneRatio;        // 平面最小点数占比
-    float heightThreshold;      // 高于平面的最小高度，用于过滤平面点 (mm)
+    float heightThreshold;      // 高于平面的最小高度，用于过滤平面点 (mm)
-
+
-    SPlaneSegmentationParams()
+    SPlaneSegmentationParams()
-        : distanceThreshold(1.0f)
+        : distanceThreshold(1.0f)
-        , maxIterations(500)
+        , maxIterations(500)
-        , minPlanePoints(1000)
+        , minPlanePoints(1000)
-        , minPlaneRatio(0.05f)
+        , minPlaneRatio(0.05f)
-        , heightThreshold(10.0f)
+        , heightThreshold(10.0f)
-    {}
+    {}
-};
+};
-
+
-/**
+/**
- * @brief 区域生长参数
+ * @brief 区域生长参数
- */
+ */
-struct SGrowthParams {
+struct SGrowthParams {
-    float thresholdX;       // 跨行合并阈值：相邻行 segment 质心 x 的最大允许差 (mm)
+    float thresholdX;       // 跨行合并阈值：相邻行 segment 质心 x 的最大允许差 (mm)
-    float thresholdY;       // 行内分段阈值：同行相邻点 y 的最大允许差 (mm)
+    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)
+    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
+    int minClusterSize;     // 最小簇点数
-
+    float angleSearchDistance;
-    SGrowthParams()
+    int residualSmoothWindow;
-        : thresholdX(5.0f)
+    float maxAxisDeviationFromXYDeg;  // Max allowed axis deviation from the XY plane (deg)
-        , thresholdY(5.0f)
+    float maxPerpendicularDeviationDeg;  // Max deviation from 90 deg for centroid-connection test
-        , thresholdZ(5.0f)
+    int minContinuousValidPointCount;     // Min consecutive valid points kept on each laser line after plane filtering; <=1 disables
-        , minClusterSize(20)
+    float maxContinuousPointZTolerance;   // Max z difference between adjacent points inside one valid run (mm)
-    {}
+    float minBarDiameter;
-};
+	float maxBarDiameter;
-
+
-/**
+    SGrowthParams()
- * @brief 生长结果：一个连通簇
+        : thresholdX(5.0f)
- */
+        , thresholdY(5.0f)
-struct SGrowthCluster {
+        , thresholdZ(5.0f)
-    std::vector<int> pointIndices;  // 簇内点在原始 rows*cols 网格中的线性索引
+        , minClusterSize(20)
-    SVzNL3DPointF centroid;         // 簇质心
+        , angleSearchDistance(2.f)
-    SVzNL3DPointF minBound;         // 包围盒最小角
+		, residualSmoothWindow(5)
-    SVzNL3DPointF maxBound;         // 包围盒最大角
+        , maxAxisDeviationFromXYDeg(50.0f)
-    int pointCount;
+        , maxPerpendicularDeviationDeg(50.0f)
-
+        , minContinuousValidPointCount(0)
-    SGrowthCluster()
+        , maxContinuousPointZTolerance(5.0f)
-        : centroid(), minBound(), maxBound(), pointCount(0)
+        , minBarDiameter(10.0f)
-    {}
+		, maxBarDiameter(30.0f)
-};
+    {}
-
+};
-/**
+
- * @brief 检测结果
+/**
- */
+ * @brief 生长结果：一个连通簇
-struct SBarIntersectionResult {
+ */
-    // 平面信息
+struct SGrowthCluster {
-    SVzNL3DPointF planeNormal;      // 平面法向量
+    std::vector<int> pointIndices;  // 簇内点在原始 rows*cols 网格中的线性索引
-    float planeD;                   // 平面方程 ax+by+cz+d=0 中的 d
+    SVzNL3DPointF centroid;         // 簇质心
-
+    SVzNL3DPointF minBound;         // 包围盒最小角
-    // 簇（原始坐标系）
+    SVzNL3DPointF maxBound;         // 包围盒最大角
-    int clusterCount;
+    int pointCount;
-    SGrowthCluster* clusters;
+
-
+    SGrowthCluster()
-    // 最优簇索引（-1表示无有效簇）
+        : centroid(), minBound(), maxBound(), pointCount(0)
-    int bestClusterIndex;
+    {}
-
+};
-    // 最优簇的过滤后点云（对齐坐标系，用于可视化）
+
-    std::vector<SVzNLPointXYZ> bestClusterPoints;
+/**
-
+ * @brief 检测结果
-    SBarIntersectionResult()
+ */
-        : planeNormal(), planeD(0.0f)
+struct SBarIntersectionResult {
-        , clusterCount(0), clusters(nullptr)
+    // 平面信息
-        , bestClusterIndex(-1)
+    SVzNL3DPointF planeNormal;      // 平面法向量
-    {}
+    float planeD;                   // 平面方程 ax+by+cz+d=0 中的 d
-};
+
-
+    // 簇（原始坐标系）
-/**
+    int clusterCount;
- * @brief 释放检测结果内存
+    SGrowthCluster* clusters;
- */
+
-inline void FreeBarIntersectionResult(SBarIntersectionResult* result) {
+    // 最优簇索引（-1表示无有效簇）
-    if (result) {
+    int bestClusterIndex;
-        if (result->clusters) { delete[] result->clusters; result->clusters = nullptr; }
+
-        result->clusterCount = 0;
+    // 最优簇的过滤后点云（对齐坐标系，用于可视化）
-    }
+    std::vector<SVzNLPointXYZ> bestClusterPoints;
-}
+
-
+    SBarIntersectionResult()
-#endif // BAR_INTERSECTION_PARAMS_H
+        : planeNormal(), planeD(0.0f)
+        , clusterCount(0), clusters(nullptr)
+        , bestClusterIndex(-1)
+    {}
+};
+
+/**
+ * @brief 释放检测结果内存
+ */
+inline void FreeBarIntersectionResult(SBarIntersectionResult* result) {
+    if (result) {
+        if (result->clusters) { delete[] result->clusters; result->clusters = nullptr; }
+        result->clusterCount = 0;
+    }
+}
+
+#endif // BAR_INTERSECTION_PARAMS_H

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.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)
     {}
 };