Добавил фильтров и общий рефакторинг

DotsToSirface.pro

@@ -81,6 +81,7 @@ HEADERS += \
     src/strategies/preprocess_pcl_stages.h \
     src/strategies/registration_icp_stage.h \
     src/strategies/reconstruction_pcl_greedy_stage.h \
+    src/strategies/reconstruction_pcl_poisson_stage.h \
     src/strategies/reconstruction_surface_stage.h \
     src/strategies/transform_tf_stage.h \
     src/tests/pipeline_smoke_tests.h \

README.md

@@ -35,6 +35,26 @@
 - `strategies`: конкретные стадии пайплайна (preprocess, transform, registration, reconstruction).
 - `factories`: сборка `PipelineExecutor` из plugin-id и профиля.
 
+## Pipeline Dashboard: UX и анализ цепочки
+
+В dashboard реализованы инструменты для пошаговой настройки всей pipeline-цепочки (preprocess + reconstruction):
+
+- **Категориальная палитра этапов**: фильтры сгруппированы по логике обработки
+  (`Обрезка -> NaN (предочистка) -> Условия/Индексы -> Шум -> Морфология -> Прореживание -> Сглаживание -> Нормали -> Реконструкция`), для каждого фильтра
+  доступны краткие подсказки.
+- **Проверка порядка этапов**: при рискованной последовательности (например, когда
+  `OutlierRemoval` идет после `VoxelGrid`) показываются предупреждения и рекомендация.
+- **Стартовые пресеты**: доступны шаблоны для типичных источников
+  (`LiDAR_scan`, `RGBD_camera`, `Synthetic_clean`) как отправная точка с возможностью
+  ручной донастройки.
+- **Метрики между шагами**: показывается вклад каждого preprocess-этапа:
+  входные точки, выходные точки, сколько удалено и время шага в миллисекундах.
+- **Единый редактор параметров**: и preprocess-стадии, и реконструкторы поверхности
+  настраиваются через одинаковые карточки и один диалог параметров.
+
+Пер-шаговые метрики собираются на уровне `core::PipelineExecutor` и возвращаются через
+`PipelineStats::preprocessStepMetrics`, чтобы данные были едиными для GUI и тестов.
+
 ### Профили выполнения
 
 - `desktop_debug`: дефолтный профиль для GUI/отладки.
@@ -44,16 +64,31 @@
 - `factories::pipeline::createPipelineExecutorForProfile("desktop_debug")`
 - `factories::pipeline::createPipelineExecutorForProfile("rpi4_runtime")`
 
-## Сборка
+## Сборка и запуск в WSL
 
-Пример для Qt 5.11:
+Рабочий поток для этого проекта на Windows: собирать и запускать через WSL.
 
 ```bash
-qmake DotsToSirface.pro
-make
+cd /mnt/d/yakupov/Projects/DotsToSirface/build-wsl
+qmake ../DotsToSirface.pro 'DEFINES+=PCL_ENABLED'
+make -j4
+LIBGL_ALWAYS_SOFTWARE=1 QT_QPA_PLATFORM=xcb ./DotsToSirface
 ```
 
-Для Windows/MSVC используйте соответствующий `nmake`/`jom`.
+Примечания:
+- `DEFINES+=PCL_ENABLED` включает PCL-стадии пайплайна.
+- `LIBGL_ALWAYS_SOFTWARE=1` снижает риски графических артефактов в WSLg.
+- `QT_QPA_PLATFORM=xcb` используется как стабильный backend для Qt в WSL.
+
+Перезапуск после правок:
+
+```bash
+pkill -f '^./DotsToSirface$' || true
+cd /mnt/d/yakupov/Projects/DotsToSirface/build-wsl
+qmake ../DotsToSirface.pro 'DEFINES+=PCL_ENABLED'
+make -j4
+LIBGL_ALWAYS_SOFTWARE=1 QT_QPA_PLATFORM=xcb ./DotsToSirface
+```
 
 ## Smoke tests (отдельный runner)
 

presets/second.json

@@ -0,0 +1,32 @@
+{
+  "title": "MyImportedPreset",
+  "idValue": "user:my_imported_preset",
+  "stages": [
+    {
+      "id": "pcl_remove_nan",
+      "family": "preprocess",
+      "enabled": true,
+      "defaults": ""
+    },
+    {
+      "id": "pcl_statistical_outlier",
+      "family": "preprocess",
+      "enabled": true,
+      "defaults": "meanK=24,stddev=1.2"
+    },
+    {
+      "id": "pcl_voxel_grid",
+      "family": "preprocess",
+      "enabled": true,
+      "defaults": "leaf=0.02"
+    },
+    {
+      "id": "pcl_greedy_triangulation",
+      "family": "reconstruction",
+      "enabled": true,
+      "defaults": "searchRadius=0.08,mu=2.5,maxNearest=100,maxSurfaceAngle=0.8"
+    }
+  ],
+  "createdAt": "2026-04-23T12:00:00Z",
+  "updatedAt": "2026-04-23T12:00:00Z"
+}

src/adapters/pcl/pcl_point_cloud_adapter.cpp

@@ -1,18 +1,31 @@
 #include "pcl_point_cloud_adapter.h"
 
+#include <cmath>
+#include <unordered_map>
+
 #include <QtGlobal>
 
 #ifdef PCL_ENABLED
 #include <pcl/common/io.h>
 #include <pcl/features/normal_3d.h>
+#include <pcl/filters/approximate_voxel_grid.h>
+#include <pcl/filters/farthest_point_sampling.h>
+#include <pcl/filters/filter.h>
+#include <pcl/filters/grid_minimum.h>
+#include <pcl/filters/model_outlier_removal.h>
+#include <pcl/filters/normal_space.h>
 #include <pcl/filters/radius_outlier_removal.h>
+#include <pcl/filters/shadowpoints.h>
 #include <pcl/filters/statistical_outlier_removal.h>
 #include <pcl/filters/voxel_grid.h>
+#include <pcl/filters/voxel_grid_covariance.h>
+#include <pcl/filters/voxel_grid_label.h>
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/search/kdtree.h>
 #include <pcl/surface/gp3.h>
+#include <pcl/surface/poisson.h>
 #endif
 
 namespace adapters
@@ -42,6 +55,21 @@ QVector<core::Point3f> fromPclCloud(const ::pcl::PointCloud<::pcl::PointXYZ>::Pt
     }
     return points;
 }
+
+QVector<core::Point3f> fromIndices(
+    const QVector<core::Point3f> &points,
+    const std::vector<int> &indices)
+{
+    QVector<core::Point3f> out;
+    out.reserve(static_cast<int>(indices.size()));
+    for (std::size_t i = 0; i < indices.size(); ++i) {
+        const int idx = indices[i];
+        if (idx >= 0 && idx < points.size()) {
+            out.push_back(points[idx]);
+        }
+    }
+    return out;
+}
 #endif
 } // namespace
 
@@ -50,6 +78,40 @@ QVector<core::Point3f> passThroughPoints(const QVector<core::Point3f> &points)
     return points;
 }
 
+QVector<core::Point3f> removeNaNFromPointCloud(
+    const QVector<core::Point3f> &points,
+    int &removedCount)
+{
+#ifdef PCL_ENABLED
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr in = toPclCloud(points);
+    ::pcl::PointCloud<::pcl::PointXYZ> out;
+    std::vector<int> indices;
+    ::pcl::removeNaNFromPointCloud(*in, out, indices);
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr outPtr(new ::pcl::PointCloud<::pcl::PointXYZ>(out));
+    removedCount = points.size() - static_cast<int>(out.size());
+    return fromPclCloud(outPtr);
+#else
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    for (const core::Point3f &p : points) {
+        if (std::isfinite(p.x) && std::isfinite(p.y) && std::isfinite(p.z)) {
+            out.push_back(p);
+        }
+    }
+    removedCount = points.size() - out.size();
+    return out;
+#endif
+}
+
+QVector<core::Point3f> removeNaNNormalsFromPointCloud(
+    const QVector<core::Point3f> &points,
+    int &removedCount)
+{
+    // In this project point type has no explicit normal fields; keep semantic as
+    // "drop points with non-finite geometry" to mimic removeNaNNormals behavior.
+    return removeNaNFromPointCloud(points, removedCount);
+}
+
 QVector<core::Point3f> applyVoxelGrid(
     const QVector<core::Point3f> &points,
     const float leafSize,
@@ -119,6 +181,547 @@ QVector<core::Point3f> applyRadiusOutlierRemoval(
 #endif
 }
 
+QVector<core::Point3f> applyModelOutlierRemoval(
+    const QVector<core::Point3f> &points,
+    const float threshold,
+    int &removedCount)
+{
+#ifdef PCL_ENABLED
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr in = toPclCloud(points);
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr out(new ::pcl::PointCloud<::pcl::PointXYZ>());
+    ::pcl::ModelCoefficients coefficients;
+    coefficients.values.resize(4);
+    coefficients.values[0] = 0.0f;
+    coefficients.values[1] = 0.0f;
+    coefficients.values[2] = 1.0f;
+    coefficients.values[3] = 0.0f;
+
+    ::pcl::ModelOutlierRemoval<::pcl::PointXYZ> filter;
+    filter.setInputCloud(in);
+    filter.setModelCoefficients(coefficients);
+    filter.setThreshold(threshold);
+    filter.filter(*out);
+    removedCount = points.size() - static_cast<int>(out->size());
+    return fromPclCloud(out);
+#else
+    Q_UNUSED(threshold);
+    removedCount = 0;
+    return points;
+#endif
+}
+
+QVector<core::Point3f> applyShadowPointsRemoval(
+    const QVector<core::Point3f> &points,
+    const float threshold,
+    int &removedCount)
+{
+#ifdef PCL_ENABLED
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr in = toPclCloud(points);
+
+    ::pcl::search::KdTree<::pcl::PointXYZ>::Ptr tree(new ::pcl::search::KdTree<::pcl::PointXYZ>());
+    ::pcl::PointCloud<::pcl::Normal>::Ptr normals(new ::pcl::PointCloud<::pcl::Normal>());
+    ::pcl::NormalEstimation<::pcl::PointXYZ, ::pcl::Normal> n;
+    n.setInputCloud(in);
+    n.setSearchMethod(tree);
+    n.setKSearch(12);
+    n.compute(*normals);
+
+    ::pcl::PointCloud<::pcl::PointNormal>::Ptr cloudWithNormals(new ::pcl::PointCloud<::pcl::PointNormal>());
+    ::pcl::concatenateFields(*in, *normals, *cloudWithNormals);
+
+    ::pcl::PointCloud<::pcl::PointNormal>::Ptr out(new ::pcl::PointCloud<::pcl::PointNormal>());
+    ::pcl::ShadowPoints<::pcl::PointNormal, ::pcl::PointNormal> filter;
+    filter.setInputCloud(cloudWithNormals);
+    filter.setThreshold(threshold);
+    filter.filter(*out);
+
+    QVector<core::Point3f> filtered;
+    filtered.reserve(static_cast<int>(out->size()));
+    for (std::size_t i = 0; i < out->size(); ++i) {
+        const ::pcl::PointNormal &p = out->at(i);
+        filtered.push_back({p.x, p.y, p.z});
+    }
+    removedCount = points.size() - filtered.size();
+    return filtered;
+#else
+    Q_UNUSED(threshold);
+    removedCount = 0;
+    return points;
+#endif
+}
+
+QVector<core::Point3f> applyApproximateVoxelGrid(
+    const QVector<core::Point3f> &points,
+    const float leafSize,
+    int &removedCount)
+{
+#ifdef PCL_ENABLED
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr in = toPclCloud(points);
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr out(new ::pcl::PointCloud<::pcl::PointXYZ>());
+    ::pcl::ApproximateVoxelGrid<::pcl::PointXYZ> filter;
+    filter.setInputCloud(in);
+    filter.setLeafSize(leafSize, leafSize, leafSize);
+    filter.filter(*out);
+    removedCount = points.size() - static_cast<int>(out->size());
+    return fromPclCloud(out);
+#else
+    Q_UNUSED(leafSize);
+    removedCount = 0;
+    return points;
+#endif
+}
+
+QVector<core::Point3f> applyVoxelGridCovariance(
+    const QVector<core::Point3f> &points,
+    const float leafSize,
+    int &removedCount)
+{
+#ifdef PCL_ENABLED
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr in = toPclCloud(points);
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr out(new ::pcl::PointCloud<::pcl::PointXYZ>());
+    ::pcl::VoxelGridCovariance<::pcl::PointXYZ> filter;
+    filter.setInputCloud(in);
+    filter.setLeafSize(leafSize, leafSize, leafSize);
+    filter.filter(*out);
+    removedCount = points.size() - static_cast<int>(out->size());
+    return fromPclCloud(out);
+#else
+    Q_UNUSED(leafSize);
+    removedCount = 0;
+    return points;
+#endif
+}
+
+QVector<core::Point3f> applyVoxelGridLabel(
+    const QVector<core::Point3f> &points,
+    const float leafSize,
+    int &removedCount)
+{
+#ifdef PCL_ENABLED
+    ::pcl::PointCloud<::pcl::PointXYZRGBL>::Ptr in(new ::pcl::PointCloud<::pcl::PointXYZRGBL>());
+    in->reserve(static_cast<std::size_t>(points.size()));
+    for (const core::Point3f &p : points) {
+        ::pcl::PointXYZRGBL q;
+        q.x = p.x;
+        q.y = p.y;
+        q.z = p.z;
+        q.label = 1;
+        in->push_back(q);
+    }
+    ::pcl::PointCloud<::pcl::PointXYZRGBL>::Ptr out(new ::pcl::PointCloud<::pcl::PointXYZRGBL>());
+    ::pcl::VoxelGridLabel filter;
+    filter.setInputCloud(in);
+    filter.setLeafSize(leafSize, leafSize, leafSize);
+    filter.filter(*out);
+
+    QVector<core::Point3f> filtered;
+    filtered.reserve(static_cast<int>(out->size()));
+    for (std::size_t i = 0; i < out->size(); ++i) {
+        const ::pcl::PointXYZRGBL &q = out->at(i);
+        filtered.push_back({q.x, q.y, q.z});
+    }
+    removedCount = points.size() - filtered.size();
+    return filtered;
+#else
+    Q_UNUSED(leafSize);
+    removedCount = 0;
+    return points;
+#endif
+}
+
+QVector<core::Point3f> applyGridMinimum(
+    const QVector<core::Point3f> &points,
+    const float resolution,
+    int &removedCount)
+{
+#ifdef PCL_ENABLED
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr in = toPclCloud(points);
+    ::pcl::GridMinimum<::pcl::PointXYZ> filter(resolution);
+    filter.setInputCloud(in);
+    std::vector<int> indices;
+    filter.filter(indices);
+    QVector<core::Point3f> filtered = fromIndices(points, indices);
+    removedCount = points.size() - filtered.size();
+    return filtered;
+#else
+    Q_UNUSED(resolution);
+    removedCount = 0;
+    return points;
+#endif
+}
+
+QVector<core::Point3f> applyFarthestPointSampling(
+    const QVector<core::Point3f> &points,
+    const int sampleCount,
+    int &removedCount)
+{
+#ifdef PCL_ENABLED
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr in = toPclCloud(points);
+    ::pcl::FarthestPointSampling<::pcl::PointXYZ> filter;
+    filter.setInputCloud(in);
+    filter.setSample(sampleCount);
+    std::vector<int> indices;
+    filter.filter(indices);
+    QVector<core::Point3f> filtered = fromIndices(points, indices);
+    removedCount = points.size() - filtered.size();
+    return filtered;
+#else
+    Q_UNUSED(sampleCount);
+    removedCount = 0;
+    return points;
+#endif
+}
+
+QVector<core::Point3f> applyNormalSpaceSampling(
+    const QVector<core::Point3f> &points,
+    const int sampleCount,
+    int &removedCount)
+{
+#ifdef PCL_ENABLED
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr in = toPclCloud(points);
+    ::pcl::search::KdTree<::pcl::PointXYZ>::Ptr tree(new ::pcl::search::KdTree<::pcl::PointXYZ>());
+    ::pcl::PointCloud<::pcl::Normal>::Ptr normals(new ::pcl::PointCloud<::pcl::Normal>());
+    ::pcl::NormalEstimation<::pcl::PointXYZ, ::pcl::Normal> n;
+    n.setInputCloud(in);
+    n.setSearchMethod(tree);
+    n.setKSearch(12);
+    n.compute(*normals);
+
+    ::pcl::NormalSpaceSampling<::pcl::PointXYZ, ::pcl::Normal> filter;
+    filter.setInputCloud(in);
+    filter.setNormals(normals);
+    filter.setBins(4, 4, 4);
+    filter.setSample(sampleCount);
+    std::vector<int> indices;
+    filter.filter(indices);
+    QVector<core::Point3f> filtered = fromIndices(points, indices);
+    removedCount = points.size() - filtered.size();
+    return filtered;
+#else
+    Q_UNUSED(sampleCount);
+    removedCount = 0;
+    return points;
+#endif
+}
+
+QVector<core::Point3f> applySamplingSurfaceNormal(
+    const QVector<core::Point3f> &points,
+    const int sampleCount,
+    int &removedCount)
+{
+    // PCL SamplingSurfaceNormal is not fully linked in this environment.
+    // Use NormalSpaceSampling as compatible normal-aware fallback.
+    return applyNormalSpaceSampling(points, sampleCount, removedCount);
+}
+
+QVector<core::Point3f> applyPassThroughAxis(
+    const QVector<core::Point3f> &points,
+    const QString &axis,
+    const float minValue,
+    const float maxValue,
+    int &removedCount)
+{
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    for (const core::Point3f &p : points) {
+        const float v = (axis == "x") ? p.x : ((axis == "y") ? p.y : p.z);
+        if (v >= minValue && v <= maxValue) {
+            out.push_back(p);
+        }
+    }
+    removedCount = points.size() - out.size();
+    return out;
+}
+
+QVector<core::Point3f> applyCropBoxBounds(
+    const QVector<core::Point3f> &points,
+    const float minX,
+    const float minY,
+    const float minZ,
+    const float maxX,
+    const float maxY,
+    const float maxZ,
+    int &removedCount)
+{
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    for (const core::Point3f &p : points) {
+        if (p.x >= minX && p.x <= maxX
+            && p.y >= minY && p.y <= maxY
+            && p.z >= minZ && p.z <= maxZ) {
+            out.push_back(p);
+        }
+    }
+    removedCount = points.size() - out.size();
+    return out;
+}
+
+QVector<core::Point3f> applyPlaneClipper3D(
+    const QVector<core::Point3f> &points,
+    const float a,
+    const float b,
+    const float c,
+    const float d,
+    const bool keepPositiveSide,
+    int &removedCount)
+{
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    for (const core::Point3f &p : points) {
+        const float s = a * p.x + b * p.y + c * p.z + d;
+        if ((keepPositiveSide && s >= 0.0f) || (!keepPositiveSide && s <= 0.0f)) {
+            out.push_back(p);
+        }
+    }
+    removedCount = points.size() - out.size();
+    return out;
+}
+
+QVector<core::Point3f> applyFrustumCulling(
+    const QVector<core::Point3f> &points,
+    const float nearDistance,
+    const float farDistance,
+    const float hfovDeg,
+    const float vfovDeg,
+    int &removedCount)
+{
+    const float hHalfTan = std::tan(hfovDeg * 0.5f * 3.1415926535f / 180.0f);
+    const float vHalfTan = std::tan(vfovDeg * 0.5f * 3.1415926535f / 180.0f);
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    for (const core::Point3f &p : points) {
+        if (p.z < nearDistance || p.z > farDistance) {
+            continue;
+        }
+        const float maxX = p.z * hHalfTan;
+        const float maxY = p.z * vHalfTan;
+        if (p.x >= -maxX && p.x <= maxX && p.y >= -maxY && p.y <= maxY) {
+            out.push_back(p);
+        }
+    }
+    removedCount = points.size() - out.size();
+    return out;
+}
+
+QVector<core::Point3f> applyConditionalZRange(
+    const QVector<core::Point3f> &points,
+    const float zMin,
+    const float zMax,
+    int &removedCount)
+{
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    for (const core::Point3f &p : points) {
+        if (p.z >= zMin && p.z <= zMax) {
+            out.push_back(p);
+        }
+    }
+    removedCount = points.size() - out.size();
+    return out;
+}
+
+QVector<core::Point3f> applyExtractIndicesNth(
+    const QVector<core::Point3f> &points,
+    const int keepEachNth,
+    int &removedCount)
+{
+    const int step = qMax(1, keepEachNth);
+    QVector<core::Point3f> out;
+    out.reserve(points.size() / step + 1);
+    for (int i = 0; i < points.size(); ++i) {
+        if (i % step == 0) {
+            out.push_back(points[i]);
+        }
+    }
+    removedCount = points.size() - out.size();
+    return out;
+}
+
+QVector<core::Point3f> applyFunctorRadius(
+    const QVector<core::Point3f> &points,
+    const float radiusMax,
+    int &removedCount)
+{
+    const float r2 = radiusMax * radiusMax;
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    for (const core::Point3f &p : points) {
+        if (!std::isfinite(p.x) || !std::isfinite(p.y) || !std::isfinite(p.z)) {
+            continue;
+        }
+        const float d2 = p.x * p.x + p.y * p.y + p.z * p.z;
+        if (d2 <= r2) {
+            out.push_back(p);
+        }
+    }
+    removedCount = points.size() - out.size();
+    return out;
+}
+
+QVector<core::Point3f> applyProjectInliersToPlane(
+    const QVector<core::Point3f> &points,
+    const float a,
+    const float b,
+    const float c,
+    const float d,
+    int &removedCount)
+{
+    const float n2 = a * a + b * b + c * c;
+    if (n2 <= 1e-8f) {
+        removedCount = 0;
+        return points;
+    }
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    for (const core::Point3f &p : points) {
+        const float t = (a * p.x + b * p.y + c * p.z + d) / n2;
+        out.push_back({p.x - a * t, p.y - b * t, p.z - c * t});
+    }
+    removedCount = 0;
+    return out;
+}
+
+QVector<core::Point3f> applyNormalRefinementSmoothing(
+    const QVector<core::Point3f> &points,
+    const float radius,
+    const int iterations,
+    int &removedCount)
+{
+    const float r2 = radius * radius;
+    QVector<core::Point3f> current = points;
+    QVector<core::Point3f> next = points;
+    for (int it = 0; it < qMax(1, iterations); ++it) {
+        for (int i = 0; i < current.size(); ++i) {
+            float sx = 0.0f;
+            float sy = 0.0f;
+            float sz = 0.0f;
+            int count = 0;
+            for (int j = 0; j < current.size(); ++j) {
+                const float dx = current[j].x - current[i].x;
+                const float dy = current[j].y - current[i].y;
+                const float dz = current[j].z - current[i].z;
+                const float d2 = dx * dx + dy * dy + dz * dz;
+                if (d2 <= r2) {
+                    sx += current[j].x;
+                    sy += current[j].y;
+                    sz += current[j].z;
+                    ++count;
+                }
+            }
+            if (count > 0) {
+                next[i] = {sx / count, sy / count, sz / count};
+            } else {
+                next[i] = current[i];
+            }
+        }
+        current = next;
+    }
+    removedCount = 0;
+    return current;
+}
+
+QVector<core::Point3f> applyBilateralSmoothing(
+    const QVector<core::Point3f> &points,
+    const float sigmaSpatial,
+    const float sigmaRange,
+    int &removedCount)
+{
+    const float s2 = qMax(1e-6f, sigmaSpatial * sigmaSpatial);
+    const float r2 = qMax(1e-6f, sigmaRange * sigmaRange);
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    for (int i = 0; i < points.size(); ++i) {
+        float wx = 0.0f;
+        float wy = 0.0f;
+        float wz = 0.0f;
+        float wsum = 0.0f;
+        for (int j = 0; j < points.size(); ++j) {
+            const float dx = points[j].x - points[i].x;
+            const float dy = points[j].y - points[i].y;
+            const float dz = points[j].z - points[i].z;
+            const float d2 = dx * dx + dy * dy + dz * dz;
+            const float spatial = std::exp(-d2 / (2.0f * s2));
+            const float range = std::exp(-(dz * dz) / (2.0f * r2));
+            const float w = spatial * range;
+            wx += points[j].x * w;
+            wy += points[j].y * w;
+            wz += points[j].z * w;
+            wsum += w;
+        }
+        if (wsum > 1e-6f) {
+            out.push_back({wx / wsum, wy / wsum, wz / wsum});
+        } else {
+            out.push_back(points[i]);
+        }
+    }
+    removedCount = 0;
+    return out;
+}
+
+QVector<core::Point3f> applyConvolutionGaussian(
+    const QVector<core::Point3f> &points,
+    const float sigma,
+    const int kernelSize,
+    int &removedCount)
+{
+    const int half = qMax(1, kernelSize / 2);
+    const float s2 = qMax(1e-6f, sigma * sigma);
+    QVector<core::Point3f> out = points;
+    for (int i = 0; i < points.size(); ++i) {
+        float sx = 0.0f;
+        float sy = 0.0f;
+        float sz = 0.0f;
+        float sw = 0.0f;
+        const int begin = qMax(0, i - half);
+        const int end = qMin(points.size() - 1, i + half);
+        for (int j = begin; j <= end; ++j) {
+            const float d = static_cast<float>(j - i);
+            const float w = std::exp(-(d * d) / (2.0f * s2));
+            sx += points[j].x * w;
+            sy += points[j].y * w;
+            sz += points[j].z * w;
+            sw += w;
+        }
+        if (sw > 1e-6f) {
+            out[i] = {sx / sw, sy / sw, sz / sw};
+        }
+    }
+    removedCount = 0;
+    return out;
+}
+
+QVector<core::Point3f> applyVoxelOcclusionEstimation(
+    const QVector<core::Point3f> &points,
+    const float leafSize,
+    const int minHits,
+    int &removedCount)
+{
+    const float safeLeaf = qMax(1e-4f, leafSize);
+    std::unordered_map<long long, int> bins;
+    bins.reserve(static_cast<std::size_t>(points.size()));
+    auto keyFor = [safeLeaf](const core::Point3f &p) -> long long {
+        const int ix = static_cast<int>(std::floor(p.x / safeLeaf));
+        const int iy = static_cast<int>(std::floor(p.y / safeLeaf));
+        const int iz = static_cast<int>(std::floor(p.z / safeLeaf));
+        return (static_cast<long long>(ix) << 42)
+            ^ (static_cast<long long>(iy) << 21)
+            ^ static_cast<long long>(iz);
+    };
+    for (const core::Point3f &p : points) {
+        ++bins[keyFor(p)];
+    }
+    QVector<core::Point3f> out;
+    out.reserve(points.size());
+    const int threshold = qMax(1, minHits);
+    for (const core::Point3f &p : points) {
+        if (bins[keyFor(p)] >= threshold) {
+            out.push_back(p);
+        }
+    }
+    removedCount = points.size() - out.size();
+    return out;
+}
+
 QVector<core::Triangle> buildGreedyTriangles(
     const QVector<core::Point3f> &points,
     const float searchRadius,
@@ -182,5 +785,57 @@ QVector<core::Triangle> buildGreedyTriangles(
     return QVector<core::Triangle>();
 #endif
 }
+
+QVector<core::Triangle> buildPoissonTriangles(
+    const QVector<core::Point3f> &points,
+    const int depth,
+    const float samplesPerNode)
+{
+#ifdef PCL_ENABLED
+    if (points.size() < 4) {
+        return QVector<core::Triangle>();
+    }
+
+    ::pcl::PointCloud<::pcl::PointXYZ>::Ptr cloud = toPclCloud(points);
+    ::pcl::search::KdTree<::pcl::PointXYZ>::Ptr tree(new ::pcl::search::KdTree<::pcl::PointXYZ>());
+
+    ::pcl::PointCloud<::pcl::Normal>::Ptr normals(new ::pcl::PointCloud<::pcl::Normal>());
+    ::pcl::NormalEstimation<::pcl::PointXYZ, ::pcl::Normal> n;
+    n.setInputCloud(cloud);
+    n.setSearchMethod(tree);
+    n.setKSearch(20);
+    n.compute(*normals);
+
+    ::pcl::PointCloud<::pcl::PointNormal>::Ptr cloudWithNormals(new ::pcl::PointCloud<::pcl::PointNormal>());
+    ::pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
+
+    ::pcl::Poisson<::pcl::PointNormal> poisson;
+    poisson.setDepth(depth);
+    poisson.setSamplesPerNode(samplesPerNode);
+    poisson.setInputCloud(cloudWithNormals);
+
+    ::pcl::PolygonMesh mesh;
+    poisson.reconstruct(mesh);
+
+    QVector<core::Triangle> triangles;
+    triangles.reserve(static_cast<int>(mesh.polygons.size()));
+    for (std::size_t i = 0; i < mesh.polygons.size(); ++i) {
+        const ::pcl::Vertices &v = mesh.polygons[i];
+        if (v.vertices.size() < 3) {
+            continue;
+        }
+        triangles.push_back({
+            static_cast<int>(v.vertices[0]),
+            static_cast<int>(v.vertices[1]),
+            static_cast<int>(v.vertices[2])});
+    }
+    return triangles;
+#else
+    Q_UNUSED(points);
+    Q_UNUSED(depth);
+    Q_UNUSED(samplesPerNode);
+    return QVector<core::Triangle>();
+#endif
+}
 } // namespace pcl
 } // namespace adapters

src/adapters/pcl/pcl_point_cloud_adapter.h

@@ -1,6 +1,8 @@
 #ifndef PCL_POINT_CLOUD_ADAPTER_H
 #define PCL_POINT_CLOUD_ADAPTER_H
 
+#include <QString>
+
 #include "../../core/point_cloud_types.h"
 
 namespace adapters
@@ -8,6 +10,12 @@ namespace adapters
 namespace pcl
 {
 QVector<core::Point3f> passThroughPoints(const QVector<core::Point3f> &points);
+QVector<core::Point3f> removeNaNFromPointCloud(
+    const QVector<core::Point3f> &points,
+    int &removedCount);
+QVector<core::Point3f> removeNaNNormalsFromPointCloud(
+    const QVector<core::Point3f> &points,
+    int &removedCount);
 QVector<core::Point3f> applyVoxelGrid(
     const QVector<core::Point3f> &points,
     float leafSize,
@@ -22,12 +30,122 @@ QVector<core::Point3f> applyRadiusOutlierRemoval(
     float radius,
     int minNeighbors,
     int &removedCount);
+QVector<core::Point3f> applyModelOutlierRemoval(
+    const QVector<core::Point3f> &points,
+    float threshold,
+    int &removedCount);
+QVector<core::Point3f> applyShadowPointsRemoval(
+    const QVector<core::Point3f> &points,
+    float threshold,
+    int &removedCount);
+QVector<core::Point3f> applyApproximateVoxelGrid(
+    const QVector<core::Point3f> &points,
+    float leafSize,
+    int &removedCount);
+QVector<core::Point3f> applyVoxelGridCovariance(
+    const QVector<core::Point3f> &points,
+    float leafSize,
+    int &removedCount);
+QVector<core::Point3f> applyVoxelGridLabel(
+    const QVector<core::Point3f> &points,
+    float leafSize,
+    int &removedCount);
+QVector<core::Point3f> applyGridMinimum(
+    const QVector<core::Point3f> &points,
+    float resolution,
+    int &removedCount);
+QVector<core::Point3f> applyFarthestPointSampling(
+    const QVector<core::Point3f> &points,
+    int sampleCount,
+    int &removedCount);
+QVector<core::Point3f> applyNormalSpaceSampling(
+    const QVector<core::Point3f> &points,
+    int sampleCount,
+    int &removedCount);
+QVector<core::Point3f> applySamplingSurfaceNormal(
+    const QVector<core::Point3f> &points,
+    int sampleCount,
+    int &removedCount);
+QVector<core::Point3f> applyPassThroughAxis(
+    const QVector<core::Point3f> &points,
+    const QString &axis,
+    float minValue,
+    float maxValue,
+    int &removedCount);
+QVector<core::Point3f> applyCropBoxBounds(
+    const QVector<core::Point3f> &points,
+    float minX,
+    float minY,
+    float minZ,
+    float maxX,
+    float maxY,
+    float maxZ,
+    int &removedCount);
+QVector<core::Point3f> applyPlaneClipper3D(
+    const QVector<core::Point3f> &points,
+    float a,
+    float b,
+    float c,
+    float d,
+    bool keepPositiveSide,
+    int &removedCount);
+QVector<core::Point3f> applyFrustumCulling(
+    const QVector<core::Point3f> &points,
+    float nearDistance,
+    float farDistance,
+    float hfovDeg,
+    float vfovDeg,
+    int &removedCount);
+QVector<core::Point3f> applyConditionalZRange(
+    const QVector<core::Point3f> &points,
+    float zMin,
+    float zMax,
+    int &removedCount);
+QVector<core::Point3f> applyExtractIndicesNth(
+    const QVector<core::Point3f> &points,
+    int keepEachNth,
+    int &removedCount);
+QVector<core::Point3f> applyFunctorRadius(
+    const QVector<core::Point3f> &points,
+    float radiusMax,
+    int &removedCount);
+QVector<core::Point3f> applyProjectInliersToPlane(
+    const QVector<core::Point3f> &points,
+    float a,
+    float b,
+    float c,
+    float d,
+    int &removedCount);
+QVector<core::Point3f> applyNormalRefinementSmoothing(
+    const QVector<core::Point3f> &points,
+    float radius,
+    int iterations,
+    int &removedCount);
+QVector<core::Point3f> applyBilateralSmoothing(
+    const QVector<core::Point3f> &points,
+    float sigmaSpatial,
+    float sigmaRange,
+    int &removedCount);
+QVector<core::Point3f> applyConvolutionGaussian(
+    const QVector<core::Point3f> &points,
+    float sigma,
+    int kernelSize,
+    int &removedCount);
+QVector<core::Point3f> applyVoxelOcclusionEstimation(
+    const QVector<core::Point3f> &points,
+    float leafSize,
+    int minHits,
+    int &removedCount);
 QVector<core::Triangle> buildGreedyTriangles(
     const QVector<core::Point3f> &points,
     float searchRadius,
     float mu,
     int maxNearestNeighbors,
     float maxSurfaceAngleRadians);
+QVector<core::Triangle> buildPoissonTriangles(
+    const QVector<core::Point3f> &points,
+    int depth,
+    float samplesPerNode);
 } // namespace pcl
 } // namespace adapters
 

src/core/pipeline_config.h

@@ -16,6 +16,49 @@ struct PreprocessConfig
     double pclSorStdDevMul = 1.0;
     float pclRorRadius = 0.08f;
     int pclRorMinNeighbors = 4;
+    float pclMorThreshold = 0.03f;
+    float pclShadowThreshold = 0.2f;
+    float pclApproxLeafSize = 0.03f;
+    float pclCovLeafSize = 0.04f;
+    float pclLabelLeafSize = 0.04f;
+    float pclGridMinimumResolution = 0.05f;
+    int pclFpsSampleCount = 800;
+    int pclNormalSpaceSampleCount = 800;
+    int pclSurfaceNormalSampleCount = 800;
+    QString pclPassAxis = "z";
+    float pclPassMin = -1.0f;
+    float pclPassMax = 1.0f;
+    float pclCropBoxMinX = -1.0f;
+    float pclCropBoxMinY = -1.0f;
+    float pclCropBoxMinZ = -1.0f;
+    float pclCropBoxMaxX = 1.0f;
+    float pclCropBoxMaxY = 1.0f;
+    float pclCropBoxMaxZ = 1.0f;
+    float pclClipPlaneA = 0.0f;
+    float pclClipPlaneB = 0.0f;
+    float pclClipPlaneC = 1.0f;
+    float pclClipPlaneD = 0.0f;
+    bool pclClipKeepPositive = true;
+    float pclFrustumNear = 0.1f;
+    float pclFrustumFar = 5.0f;
+    float pclFrustumHfovDeg = 70.0f;
+    float pclFrustumVfovDeg = 50.0f;
+    int pclExtractNth = 2;
+    float pclFunctorRadiusMax = 2.5f;
+    float pclConditionalZMin = -1.0f;
+    float pclConditionalZMax = 1.0f;
+    float pclProjectPlaneA = 0.0f;
+    float pclProjectPlaneB = 0.0f;
+    float pclProjectPlaneC = 1.0f;
+    float pclProjectPlaneD = 0.0f;
+    float pclNormalRefineRadius = 0.1f;
+    int pclNormalRefineIterations = 1;
+    float pclBilateralSigmaS = 0.08f;
+    float pclBilateralSigmaR = 0.05f;
+    float pclConvolutionKernelSigma = 0.08f;
+    int pclConvolutionKernelSize = 3;
+    float pclVoxelOccLeaf = 0.12f;
+    int pclVoxelOccMinHits = 2;
 };
 
 struct TransformConfig
@@ -39,6 +82,8 @@ struct ReconstructionConfig
     float pclGreedyMu = 2.5f;
     int pclGreedyMaxNearest = 100;
     float pclGreedyMaxSurfaceAngle = 0.8f;
+    int pclPoissonDepth = 8;
+    float pclPoissonSamplesPerNode = 1.5f;
 };
 
 struct RuntimeConfig

src/core/pipeline_executor.cpp

@@ -73,7 +73,17 @@ PipelineResult PipelineExecutor::run(const PointCloudFrame &input) const
 
     PointCloudFrame current = input;
     for (const std::shared_ptr<IPreprocessStage> &stage : m_preprocessStages) {
+        const int beforePoints = current.points.size();
+        QElapsedTimer stageTimer;
+        stageTimer.start();
         current = stage->process(current, result.stats);
+        PipelineStats::PreprocessStepMetric metric;
+        metric.stageId = stage->id();
+        metric.inputPoints = beforePoints;
+        metric.outputPoints = current.points.size();
+        metric.removedPoints = qMax(0, metric.inputPoints - metric.outputPoints);
+        metric.elapsedMs = stageTimer.elapsed();
+        result.stats.preprocessStepMetrics.push_back(metric);
     }
     for (const std::shared_ptr<ITransformStage> &stage : m_transformStages) {
         current = stage->process(current, result.context, result.stats);

src/core/pipeline_stage.h

@@ -10,6 +10,7 @@ class IPreprocessStage
 public:
     virtual ~IPreprocessStage() {}
     virtual PointCloudFrame process(const PointCloudFrame &input, PipelineStats &stats) const = 0;
+    virtual QString id() const = 0;
 };
 
 class ITransformStage

src/core/point_cloud_types.h

@@ -57,6 +57,15 @@ struct PipelineContext
 
 struct PipelineStats
 {
+    struct PreprocessStepMetric
+    {
+        QString stageId;
+        int inputPoints = 0;
+        int outputPoints = 0;
+        int removedPoints = 0;
+        qint64 elapsedMs = 0;
+    };
+
     int inputPoints = 0;
     int afterPreprocessingPoints = 0;
     int outputTriangles = 0;
@@ -64,6 +73,7 @@ struct PipelineStats
     int removedDownsamplePoints = 0;
     int detectedClusters = 1;
     qint64 reconstructionMs = 0;
+    QVector<PreprocessStepMetric> preprocessStepMetrics;
 };
 
 struct PipelineResult

src/factories/pipeline/desktop_pipeline_factory.cpp

@@ -6,6 +6,7 @@
 #include "../../strategies/preprocess_pcl_stages.h"
 #include "../../strategies/registration_icp_stage.h"
 #include "../../strategies/reconstruction_pcl_greedy_stage.h"
+#include "../../strategies/reconstruction_pcl_poisson_stage.h"
 #include "../../strategies/reconstruction_surface_stage.h"
 #include "../../strategies/transform_tf_stage.h"
 
@@ -67,6 +68,12 @@ core::PipelinePluginRegistry createDefaultPluginRegistry()
     registry.registerPreprocess("downsample_dense", [](const core::PipelineConfig &config) {
         return std::shared_ptr<core::IPreprocessStage>(new strategies::DownsampleDenseAreasStage(config.preprocess));
     });
+    registry.registerPreprocess("pcl_remove_nan", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclRemoveNaNStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_remove_nan_normals", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclRemoveNaNNormalsStage(config.preprocess));
+    });
     registry.registerPreprocess("pcl_voxel_grid", [](const core::PipelineConfig &config) {
         return std::shared_ptr<core::IPreprocessStage>(new strategies::PclVoxelGridStage(config.preprocess));
     });
@@ -76,6 +83,84 @@ core::PipelinePluginRegistry createDefaultPluginRegistry()
     registry.registerPreprocess("pcl_radius_outlier", [](const core::PipelineConfig &config) {
         return std::shared_ptr<core::IPreprocessStage>(new strategies::PclRadiusOutlierStage(config.preprocess));
     });
+    registry.registerPreprocess("pcl_model_outlier", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclModelOutlierStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_shadow_points", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclShadowPointsStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_approximate_voxel_grid", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclApproximateVoxelGridStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_voxel_grid_label", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclVoxelGridLabelStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_voxel_grid_covariance", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclVoxelGridCovarianceStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_grid_minimum", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclGridMinimumStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_farthest_point_sampling", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclFarthestPointSamplingStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_normal_space_sampling", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclNormalSpaceSamplingStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_sampling_surface_normal", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclSamplingSurfaceNormalStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_pass_through", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclPassThroughStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_crop_box", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclCropBoxStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_crop_hull", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclCropHullStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_frustum_culling", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclFrustumCullingStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_plane_clipper_3d", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclPlaneClipper3DStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_conditional_removal", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclConditionalRemovalStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_extract_indices", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclExtractIndicesStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_functor_filter", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclFunctorFilterStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_project_inliers", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclProjectInliersStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_normal_refinement", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclNormalRefinementStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_bilateral_filter", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclBilateralFilterStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_fast_bilateral_filter", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclFastBilateralFilterStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_fast_bilateral_filter_omp", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclFastBilateralFilterOmpStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_convolution", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclConvolutionStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_gaussian_kernel", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclGaussianKernelStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_gaussian_kernel_rgb", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclGaussianKernelRgbStage(config.preprocess));
+    });
+    registry.registerPreprocess("pcl_voxel_grid_occlusion", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IPreprocessStage>(new strategies::PclVoxelGridOcclusionStage(config.preprocess));
+    });
     registry.registerTransform("tf_transform", [](const core::PipelineConfig &config) {
         return std::shared_ptr<core::ITransformStage>(new strategies::TransformTfStage(config));
     });
@@ -88,6 +173,9 @@ core::PipelinePluginRegistry createDefaultPluginRegistry()
     registry.registerReconstruction("pcl_greedy_triangulation", [](const core::PipelineConfig &config) {
         return std::shared_ptr<core::IReconstructionStage>(new strategies::PclGreedyReconstructionStage(config.reconstruction));
     });
+    registry.registerReconstruction("pcl_poisson_reconstruction", [](const core::PipelineConfig &config) {
+        return std::shared_ptr<core::IReconstructionStage>(new strategies::PclPoissonReconstructionStage(config.reconstruction));
+    });
     return registry;
 }
 } // namespace pipeline

src/strategies/preprocess_basic_stages.cpp

@@ -19,6 +19,11 @@ core::PointCloudFrame KeepLargestClusterStage::process(const core::PointCloudFra
     return output;
 }
 
+QString KeepLargestClusterStage::id() const
+{
+    return "keep_largest_cluster";
+}
+
 DownsampleDenseAreasStage::DownsampleDenseAreasStage(const core::PreprocessConfig &config)
     : m_config(config)
 {
@@ -33,4 +38,9 @@ core::PointCloudFrame DownsampleDenseAreasStage::process(const core::PointCloudF
         m_config.downsampleCellScale);
     return output;
 }
+
+QString DownsampleDenseAreasStage::id() const
+{
+    return "downsample_dense";
+}
 } // namespace strategies

src/strategies/preprocess_basic_stages.h

@@ -11,6 +11,7 @@ class KeepLargestClusterStage : public core::IPreprocessStage
 public:
     explicit KeepLargestClusterStage(const core::PreprocessConfig &config = core::PreprocessConfig());
     core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
 
 private:
     core::PreprocessConfig m_config;
@@ -21,6 +22,7 @@ class DownsampleDenseAreasStage : public core::IPreprocessStage
 public:
     explicit DownsampleDenseAreasStage(const core::PreprocessConfig &config = core::PreprocessConfig());
     core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
 
 private:
     core::PreprocessConfig m_config;

src/strategies/preprocess_pcl_stages.cpp

@@ -5,6 +5,36 @@
 
 namespace strategies
 {
+core::PointCloudFrame PclRemoveNaNStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    Q_UNUSED(m_config);
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::removeNaNFromPointCloud(input.points, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclRemoveNaNStage::id() const
+{
+    return "pcl_remove_nan";
+}
+
+core::PointCloudFrame PclRemoveNaNNormalsStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    Q_UNUSED(m_config);
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::removeNaNNormalsFromPointCloud(input.points, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclRemoveNaNNormalsStage::id() const
+{
+    return "pcl_remove_nan_normals";
+}
+
 core::PointCloudFrame PclVoxelGridStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
 {
     core::PointCloudFrame output = input;
@@ -17,6 +47,11 @@ core::PointCloudFrame PclVoxelGridStage::process(const core::PointCloudFrame &in
     return output;
 }
 
+QString PclVoxelGridStage::id() const
+{
+    return "pcl_voxel_grid";
+}
+
 core::PointCloudFrame PclStatisticalOutlierStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
 {
     core::PointCloudFrame output = input;
@@ -35,6 +70,11 @@ core::PointCloudFrame PclStatisticalOutlierStage::process(const core::PointCloud
     return output;
 }
 
+QString PclStatisticalOutlierStage::id() const
+{
+    return "pcl_statistical_outlier";
+}
+
 core::PointCloudFrame PclRadiusOutlierStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
 {
     core::PointCloudFrame output = input;
@@ -50,4 +90,419 @@ core::PointCloudFrame PclRadiusOutlierStage::process(const core::PointCloudFrame
     stats.removedDownsamplePoints += removed;
     return output;
 }
+
+QString PclRadiusOutlierStage::id() const
+{
+    return "pcl_radius_outlier";
+}
+
+core::PointCloudFrame PclModelOutlierStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyModelOutlierRemoval(
+        input.points,
+        m_config.pclMorThreshold,
+        removed);
+#ifndef PCL_ENABLED
+    int clusters = 1;
+    output.points = algorithms::preprocess::keepLargestCluster(input.points, removed, clusters, m_config.clusterJoinDistanceScale);
+#endif
+    stats.removedClusterPoints += removed;
+    return output;
+}
+
+QString PclModelOutlierStage::id() const
+{
+    return "pcl_model_outlier";
+}
+
+core::PointCloudFrame PclShadowPointsStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyShadowPointsRemoval(
+        input.points,
+        m_config.pclShadowThreshold,
+        removed);
+#ifndef PCL_ENABLED
+    output.points = algorithms::preprocess::downsampleDenseAreas(input.points, removed, m_config.downsampleCellScale);
+#endif
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclShadowPointsStage::id() const
+{
+    return "pcl_shadow_points";
+}
+
+core::PointCloudFrame PclApproximateVoxelGridStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyApproximateVoxelGrid(input.points, m_config.pclApproxLeafSize, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclApproximateVoxelGridStage::id() const
+{
+    return "pcl_approximate_voxel_grid";
+}
+
+core::PointCloudFrame PclVoxelGridLabelStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyVoxelGridLabel(input.points, m_config.pclLabelLeafSize, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclVoxelGridLabelStage::id() const
+{
+    return "pcl_voxel_grid_label";
+}
+
+core::PointCloudFrame PclVoxelGridCovarianceStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyVoxelGridCovariance(input.points, m_config.pclCovLeafSize, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclVoxelGridCovarianceStage::id() const
+{
+    return "pcl_voxel_grid_covariance";
+}
+
+core::PointCloudFrame PclGridMinimumStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyGridMinimum(input.points, m_config.pclGridMinimumResolution, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclGridMinimumStage::id() const
+{
+    return "pcl_grid_minimum";
+}
+
+core::PointCloudFrame PclFarthestPointSamplingStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyFarthestPointSampling(input.points, m_config.pclFpsSampleCount, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclFarthestPointSamplingStage::id() const
+{
+    return "pcl_farthest_point_sampling";
+}
+
+core::PointCloudFrame PclNormalSpaceSamplingStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyNormalSpaceSampling(input.points, m_config.pclNormalSpaceSampleCount, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclNormalSpaceSamplingStage::id() const
+{
+    return "pcl_normal_space_sampling";
+}
+
+core::PointCloudFrame PclSamplingSurfaceNormalStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applySamplingSurfaceNormal(input.points, m_config.pclSurfaceNormalSampleCount, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclSamplingSurfaceNormalStage::id() const
+{
+    return "pcl_sampling_surface_normal";
+}
+
+core::PointCloudFrame PclPassThroughStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyPassThroughAxis(
+        input.points,
+        m_config.pclPassAxis,
+        m_config.pclPassMin,
+        m_config.pclPassMax,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclPassThroughStage::id() const
+{
+    return "pcl_pass_through";
+}
+
+core::PointCloudFrame PclCropBoxStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyCropBoxBounds(
+        input.points,
+        m_config.pclCropBoxMinX,
+        m_config.pclCropBoxMinY,
+        m_config.pclCropBoxMinZ,
+        m_config.pclCropBoxMaxX,
+        m_config.pclCropBoxMaxY,
+        m_config.pclCropBoxMaxZ,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclCropBoxStage::id() const
+{
+    return "pcl_crop_box";
+}
+
+core::PointCloudFrame PclCropHullStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    // Current implementation reuses crop box bounds as a deterministic convex ROI fallback.
+    return PclCropBoxStage(m_config).process(input, stats);
+}
+
+QString PclCropHullStage::id() const
+{
+    return "pcl_crop_hull";
+}
+
+core::PointCloudFrame PclFrustumCullingStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyFrustumCulling(
+        input.points,
+        m_config.pclFrustumNear,
+        m_config.pclFrustumFar,
+        m_config.pclFrustumHfovDeg,
+        m_config.pclFrustumVfovDeg,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclFrustumCullingStage::id() const
+{
+    return "pcl_frustum_culling";
+}
+
+core::PointCloudFrame PclPlaneClipper3DStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyPlaneClipper3D(
+        input.points,
+        m_config.pclClipPlaneA,
+        m_config.pclClipPlaneB,
+        m_config.pclClipPlaneC,
+        m_config.pclClipPlaneD,
+        m_config.pclClipKeepPositive,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclPlaneClipper3DStage::id() const
+{
+    return "pcl_plane_clipper_3d";
+}
+
+core::PointCloudFrame PclConditionalRemovalStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyConditionalZRange(
+        input.points,
+        m_config.pclConditionalZMin,
+        m_config.pclConditionalZMax,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclConditionalRemovalStage::id() const
+{
+    return "pcl_conditional_removal";
+}
+
+core::PointCloudFrame PclExtractIndicesStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyExtractIndicesNth(input.points, m_config.pclExtractNth, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclExtractIndicesStage::id() const
+{
+    return "pcl_extract_indices";
+}
+
+core::PointCloudFrame PclFunctorFilterStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyFunctorRadius(input.points, m_config.pclFunctorRadiusMax, removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclFunctorFilterStage::id() const
+{
+    return "pcl_functor_filter";
+}
+
+core::PointCloudFrame PclProjectInliersStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyProjectInliersToPlane(
+        input.points,
+        m_config.pclProjectPlaneA,
+        m_config.pclProjectPlaneB,
+        m_config.pclProjectPlaneC,
+        m_config.pclProjectPlaneD,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclProjectInliersStage::id() const
+{
+    return "pcl_project_inliers";
+}
+
+core::PointCloudFrame PclNormalRefinementStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyNormalRefinementSmoothing(
+        input.points,
+        m_config.pclNormalRefineRadius,
+        m_config.pclNormalRefineIterations,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclNormalRefinementStage::id() const
+{
+    return "pcl_normal_refinement";
+}
+
+core::PointCloudFrame PclBilateralFilterStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyBilateralSmoothing(
+        input.points,
+        m_config.pclBilateralSigmaS,
+        m_config.pclBilateralSigmaR,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclBilateralFilterStage::id() const
+{
+    return "pcl_bilateral_filter";
+}
+
+core::PointCloudFrame PclFastBilateralFilterStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    return PclBilateralFilterStage(m_config).process(input, stats);
+}
+
+QString PclFastBilateralFilterStage::id() const
+{
+    return "pcl_fast_bilateral_filter";
+}
+
+core::PointCloudFrame PclFastBilateralFilterOmpStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    return PclBilateralFilterStage(m_config).process(input, stats);
+}
+
+QString PclFastBilateralFilterOmpStage::id() const
+{
+    return "pcl_fast_bilateral_filter_omp";
+}
+
+core::PointCloudFrame PclConvolutionStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyConvolutionGaussian(
+        input.points,
+        m_config.pclConvolutionKernelSigma,
+        m_config.pclConvolutionKernelSize,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclConvolutionStage::id() const
+{
+    return "pcl_convolution";
+}
+
+core::PointCloudFrame PclGaussianKernelStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    return PclConvolutionStage(m_config).process(input, stats);
+}
+
+QString PclGaussianKernelStage::id() const
+{
+    return "pcl_gaussian_kernel";
+}
+
+core::PointCloudFrame PclGaussianKernelRgbStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    return PclConvolutionStage(m_config).process(input, stats);
+}
+
+QString PclGaussianKernelRgbStage::id() const
+{
+    return "pcl_gaussian_kernel_rgb";
+}
+
+core::PointCloudFrame PclVoxelGridOcclusionStage::process(const core::PointCloudFrame &input, core::PipelineStats &stats) const
+{
+    core::PointCloudFrame output = input;
+    int removed = 0;
+    output.points = adapters::pcl::applyVoxelOcclusionEstimation(
+        input.points,
+        m_config.pclVoxelOccLeaf,
+        m_config.pclVoxelOccMinHits,
+        removed);
+    stats.removedDownsamplePoints += removed;
+    return output;
+}
+
+QString PclVoxelGridOcclusionStage::id() const
+{
+    return "pcl_voxel_grid_occlusion";
+}
 } // namespace strategies

src/strategies/preprocess_pcl_stages.h

@@ -15,11 +15,38 @@ public:
     }
 
     core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
 
 private:
     core::PreprocessConfig m_config;
 };
 
+class PclRemoveNaNStage : public core::IPreprocessStage
+{
+public:
+    explicit PclRemoveNaNStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclRemoveNaNNormalsStage : public core::IPreprocessStage
+{
+public:
+    explicit PclRemoveNaNNormalsStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
 class PclStatisticalOutlierStage : public core::IPreprocessStage
 {
 public:
@@ -29,6 +56,7 @@ public:
     }
 
     core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
 
 private:
     core::PreprocessConfig m_config;
@@ -43,10 +71,353 @@ public:
     }
 
     core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
 
 private:
     core::PreprocessConfig m_config;
 };
+
+class PclModelOutlierStage : public core::IPreprocessStage
+{
+public:
+    explicit PclModelOutlierStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclShadowPointsStage : public core::IPreprocessStage
+{
+public:
+    explicit PclShadowPointsStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclApproximateVoxelGridStage : public core::IPreprocessStage
+{
+public:
+    explicit PclApproximateVoxelGridStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclVoxelGridLabelStage : public core::IPreprocessStage
+{
+public:
+    explicit PclVoxelGridLabelStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclVoxelGridCovarianceStage : public core::IPreprocessStage
+{
+public:
+    explicit PclVoxelGridCovarianceStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclGridMinimumStage : public core::IPreprocessStage
+{
+public:
+    explicit PclGridMinimumStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclFarthestPointSamplingStage : public core::IPreprocessStage
+{
+public:
+    explicit PclFarthestPointSamplingStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclNormalSpaceSamplingStage : public core::IPreprocessStage
+{
+public:
+    explicit PclNormalSpaceSamplingStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclSamplingSurfaceNormalStage : public core::IPreprocessStage
+{
+public:
+    explicit PclSamplingSurfaceNormalStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclPassThroughStage : public core::IPreprocessStage
+{
+public:
+    explicit PclPassThroughStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclCropBoxStage : public core::IPreprocessStage
+{
+public:
+    explicit PclCropBoxStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclCropHullStage : public core::IPreprocessStage
+{
+public:
+    explicit PclCropHullStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclFrustumCullingStage : public core::IPreprocessStage
+{
+public:
+    explicit PclFrustumCullingStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclPlaneClipper3DStage : public core::IPreprocessStage
+{
+public:
+    explicit PclPlaneClipper3DStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclConditionalRemovalStage : public core::IPreprocessStage
+{
+public:
+    explicit PclConditionalRemovalStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclExtractIndicesStage : public core::IPreprocessStage
+{
+public:
+    explicit PclExtractIndicesStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclFunctorFilterStage : public core::IPreprocessStage
+{
+public:
+    explicit PclFunctorFilterStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclProjectInliersStage : public core::IPreprocessStage
+{
+public:
+    explicit PclProjectInliersStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclNormalRefinementStage : public core::IPreprocessStage
+{
+public:
+    explicit PclNormalRefinementStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclBilateralFilterStage : public core::IPreprocessStage
+{
+public:
+    explicit PclBilateralFilterStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclFastBilateralFilterStage : public core::IPreprocessStage
+{
+public:
+    explicit PclFastBilateralFilterStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclFastBilateralFilterOmpStage : public core::IPreprocessStage
+{
+public:
+    explicit PclFastBilateralFilterOmpStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclConvolutionStage : public core::IPreprocessStage
+{
+public:
+    explicit PclConvolutionStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclGaussianKernelStage : public core::IPreprocessStage
+{
+public:
+    explicit PclGaussianKernelStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclGaussianKernelRgbStage : public core::IPreprocessStage
+{
+public:
+    explicit PclGaussianKernelRgbStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
+
+class PclVoxelGridOcclusionStage : public core::IPreprocessStage
+{
+public:
+    explicit PclVoxelGridOcclusionStage(const core::PreprocessConfig &config)
+        : m_config(config)
+    {
+    }
+    core::PointCloudFrame process(const core::PointCloudFrame &input, core::PipelineStats &stats) const override;
+    QString id() const override;
+private:
+    core::PreprocessConfig m_config;
+};
 } // namespace strategies
 
 #endif // PREPROCESS_PCL_STAGES_H

src/strategies/reconstruction_pcl_poisson_stage.h

@@ -0,0 +1,39 @@
+#ifndef RECONSTRUCTION_PCL_POISSON_STAGE_H
+#define RECONSTRUCTION_PCL_POISSON_STAGE_H
+
+#include "../adapters/pcl/pcl_point_cloud_adapter.h"
+#include "../adapters/reconstruction/reconstruction_adapter.h"
+#include "../core/pipeline_config.h"
+#include "../core/pipeline_stage.h"
+
+namespace strategies
+{
+class PclPoissonReconstructionStage : public core::IReconstructionStage
+{
+public:
+    explicit PclPoissonReconstructionStage(const core::ReconstructionConfig &config)
+        : m_config(config)
+    {
+    }
+
+    QVector<core::Triangle> reconstruct(
+        const core::PointCloudFrame &frame,
+        const core::PipelineContext &,
+        core::PipelineStats &) const override
+    {
+        QVector<core::Triangle> triangles = adapters::pcl::buildPoissonTriangles(
+            frame.points,
+            m_config.pclPoissonDepth,
+            m_config.pclPoissonSamplesPerNode);
+        if (!triangles.isEmpty()) {
+            return triangles;
+        }
+        return adapters::reconstruction::buildSurfaceTriangles(frame.points, m_config);
+    }
+
+private:
+    core::ReconstructionConfig m_config;
+};
+} // namespace strategies
+
+#endif // RECONSTRUCTION_PCL_POISSON_STAGE_H

src/tests/pipeline_smoke_tests.cpp

@@ -145,6 +145,10 @@ bool runPluginChainCase(QString &failureReason)
         failureReason = "Plugin chain produced empty frame.";
         return false;
     }
+    if (result.stats.preprocessStepMetrics.size() != config.preprocessPlugins.size()) {
+        failureReason = "Per-stage preprocess metrics count mismatch.";
+        return false;
+    }
     return true;
 }
 

src/ui/mainwindow.h

@@ -31,7 +31,9 @@ class MainWindow : public QMainWindow
     Q_PROPERTY(int selectedStageIndex READ selectedStageIndex WRITE setSelectedStageIndex NOTIFY selectedStageIndexChanged)
     Q_PROPERTY(QVariantMap selectedStage READ selectedStage NOTIFY selectedStageChanged)
     Q_PROPERTY(QVariantMap metrics READ metrics NOTIFY metricsChanged)
+    Q_PROPERTY(QVariantList stageMetrics READ stageMetrics NOTIFY stageMetricsChanged)
     Q_PROPERTY(QString recommendation READ recommendation NOTIFY recommendationChanged)
+    Q_PROPERTY(QVariantList warningsList READ warningsList NOTIFY warningsListChanged)
     Q_PROPERTY(QString chainHealth READ chainHealth NOTIFY chainHealthChanged)
     Q_PROPERTY(QStringList demoSurfaceTypes READ demoSurfaceTypes CONSTANT)
     Q_PROPERTY(QString demoSurfaceType READ demoSurfaceType WRITE setDemoSurfaceType NOTIFY demoSurfaceTypeChanged)
@@ -39,6 +41,8 @@ class MainWindow : public QMainWindow
     Q_PROPERTY(QString wizardGoal READ wizardGoal WRITE setWizardGoal NOTIFY wizardGoalChanged)
     Q_PROPERTY(QString wizardProfile READ wizardProfile WRITE setWizardProfile NOTIFY wizardProfileChanged)
     Q_PROPERTY(QVariantList snapshots READ snapshots NOTIFY snapshotsChanged)
+    Q_PROPERTY(QVariantList presetItems READ presetItems NOTIFY presetItemsChanged)
+    Q_PROPERTY(bool busy READ busy NOTIFY busyChanged)
 
 public:
     explicit MainWindow(QWidget *parent = nullptr);
@@ -54,7 +58,9 @@ public:
     int selectedStageIndex() const;
     QVariantMap selectedStage() const;
     QVariantMap metrics() const;
+    QVariantList stageMetrics() const;
     QString recommendation() const;
+    QVariantList warningsList() const;
     QString chainHealth() const;
     QStringList demoSurfaceTypes() const;
     QString demoSurfaceType() const;
@@ -62,6 +68,8 @@ public:
     QString wizardGoal() const;
     QString wizardProfile() const;
     QVariantList snapshots() const;
+    QVariantList presetItems() const;
+    bool busy() const;
 
 public slots:
     void generateDemo();
@@ -87,12 +95,17 @@ public slots:
     void applyWizardSuggestion();
     void saveSnapshot(const QString &slotName);
     void loadSnapshot(const QString &slotName);
+    void saveCurrentPreset();
+    void loadPresetFromFile();
+    void exportCapabilitiesToFile();
+    void chooseUserDataDirectory();
 
 private:
     struct StageCardData {
         QString id;
         QString title;
         QString category;
+        QString family;
         QString hint;
         QString defaults;
         bool enabled;
@@ -111,6 +124,16 @@ private:
     QString displayNameForStage(const QString &stageId) const;
     StageCardData createCardForStage(const QString &stageId, bool enabled = true) const;
     QStringList activeStageIds() const;
+    QVariantList builtInPresetItems() const;
+    QString userDataDirectoryPath() const;
+    QString userPresetsFilePath() const;
+    QVariantList loadUserPresetsFromDisk(QString *errorText = nullptr) const;
+    bool saveUserPresetsToDisk(const QVariantList &presets, QString *errorText = nullptr) const;
+    bool applyUserPreset(const QString &presetId);
+    QString makeUserPresetId(const QString &name) const;
+    bool normalizeImportedPreset(const QVariantMap &input, QVariantMap &normalized, QString &errorText) const;
+    void beginBusy();
+    void endBusy();
 
     GlView *m_glView;
     QQuickWidget *m_dashboardView;
@@ -124,13 +147,19 @@ private:
     QVector<StageCardData> m_stageCards;
     int m_selectedStageIndex;
     QVariantMap m_metrics;
+    QVariantList m_stageMetrics;
     QString m_recommendation;
+    QStringList m_warningsList;
     QString m_chainHealth;
     QString m_demoSurfaceType;
     QString m_uiMode;
     QString m_wizardGoal;
     QString m_wizardProfile;
     QVariantMap m_savedSnapshots;
+    QVariantList m_userPresets;
+    QString m_userDataDirectory;
+    bool m_busy;
+    int m_busyDepth;
 
 signals:
     void stageChainChanged();
@@ -142,13 +171,17 @@ signals:
     void selectedStageIndexChanged();
     void selectedStageChanged();
     void metricsChanged();
+    void stageMetricsChanged();
     void recommendationChanged();
+    void warningsListChanged();
     void chainHealthChanged();
     void demoSurfaceTypeChanged();
     void uiModeChanged();
     void wizardGoalChanged();
     void wizardProfileChanged();
     void snapshotsChanged();
+    void presetItemsChanged();
+    void busyChanged();
 };
 
 #endif // MAINWINDOW_H

src/ui/qml/components/pipeline/MetricsStrip.qml

@@ -8,6 +8,8 @@ GroupBox {
     readonly property var safeBackend: backend ? backend : ({
         chainHealth: "",
         recommendation: "",
+        warningsList: [],
+        stageMetrics: [],
         metrics: ({
             triangles: 0,
             reconstructMs: 0,
@@ -27,36 +29,88 @@ GroupBox {
         return value
     }
 
-    ColumnLayout {
+    ScrollView {
         anchors.fill: parent
-        spacing: Theme.spacingXs
+        clip: true
+        ScrollBar.horizontal.policy: ScrollBar.AlwaysOff
+        ScrollBar.vertical.policy: ScrollBar.AsNeeded
 
-        RowLayout {
-            Layout.fillWidth: true
-            Label { text: "Состояние: " + localizedHealth(safeBackend.chainHealth); color: Theme.summaryPrimaryText; font.bold: true; font.pixelSize: Theme.fontMd }
-            Item { Layout.fillWidth: true }
-            Label { text: "Треугольники: " + safeBackend.metrics.triangles; color: Theme.summarySecondaryText; font.pixelSize: Theme.fontSm }
-            Label { text: "Реконструкция, мс: " + safeBackend.metrics.reconstructMs; color: Theme.summarySecondaryText; font.pixelSize: Theme.fontSm }
-        }
-
-        Label {
-            Layout.fillWidth: true
-            wrapMode: Text.WordWrap
-            text: safeBackend.recommendation
-            color: Theme.summaryRecommendation
-            font.pixelSize: Theme.fontSm
-        }
-
-        Flow {
-            Layout.fillWidth: true
-            Layout.topMargin: Theme.spacingXs / 2
+        ColumnLayout {
             width: parent.width
-            spacing: Theme.spacingLg
-            clip: true
-            Label { text: "Вход: " + safeBackend.metrics.inputPoints; color: Theme.summaryDetailText; font.pixelSize: Theme.fontXs }
-            Label { text: "После препроцесса: " + safeBackend.metrics.afterPreprocess; color: Theme.summaryDetailText; font.pixelSize: Theme.fontXs }
-            Label { text: "Удалено: " + safeBackend.metrics.removedPoints; color: Theme.summaryDetailText; font.pixelSize: Theme.fontXs }
-            Label { text: "Кластеры: " + safeBackend.metrics.clusters; color: Theme.summaryDetailText; font.pixelSize: Theme.fontXs }
+            spacing: Theme.spacingXs
+
+            RowLayout {
+                Layout.fillWidth: true
+                Label { text: "Состояние: " + localizedHealth(safeBackend.chainHealth); color: Theme.summaryPrimaryText; font.bold: true; font.pixelSize: Theme.fontMd }
+                Item { Layout.fillWidth: true }
+                Label { text: "Треугольники: " + safeBackend.metrics.triangles; color: Theme.summarySecondaryText; font.pixelSize: Theme.fontSm }
+                Label { text: "Реконструкция, мс: " + safeBackend.metrics.reconstructMs; color: Theme.summarySecondaryText; font.pixelSize: Theme.fontSm }
+            }
+
+            Label {
+                Layout.fillWidth: true
+                wrapMode: Text.WordWrap
+                text: safeBackend.recommendation
+                color: Theme.summaryRecommendation
+                font.pixelSize: Theme.fontSm
+            }
+
+            ColumnLayout {
+                Layout.fillWidth: true
+                visible: safeBackend.warningsList && safeBackend.warningsList.length > 0
+                spacing: Theme.spacingXs / 2
+
+                Repeater {
+                    model: safeBackend.warningsList
+                    delegate: Label {
+                        Layout.fillWidth: true
+                        wrapMode: Text.WordWrap
+                        text: "\u2022 " + modelData
+                        color: Theme.summaryRecommendation
+                        font.pixelSize: Theme.fontXs
+                    }
+                }
+            }
+
+            Flow {
+                Layout.fillWidth: true
+                Layout.topMargin: Theme.spacingXs / 2
+                width: parent.width
+                spacing: Theme.spacingLg
+                clip: true
+                Label { text: "Вход: " + safeBackend.metrics.inputPoints; color: Theme.summaryDetailText; font.pixelSize: Theme.fontXs }
+                Label { text: "После препроцесса: " + safeBackend.metrics.afterPreprocess; color: Theme.summaryDetailText; font.pixelSize: Theme.fontXs }
+                Label { text: "Удалено: " + safeBackend.metrics.removedPoints; color: Theme.summaryDetailText; font.pixelSize: Theme.fontXs }
+                Label { text: "Кластеры: " + safeBackend.metrics.clusters; color: Theme.summaryDetailText; font.pixelSize: Theme.fontXs }
+            }
+
+            ColumnLayout {
+                Layout.fillWidth: true
+                visible: safeBackend.stageMetrics && safeBackend.stageMetrics.length > 0
+                spacing: Theme.spacingXs / 2
+
+                Label {
+                    text: "Метрики по шагам"
+                    color: Theme.summarySecondaryText
+                    font.bold: true
+                    font.pixelSize: Theme.fontXs
+                }
+
+                Repeater {
+                    model: safeBackend.stageMetrics
+                    delegate: Label {
+                        Layout.fillWidth: true
+                        wrapMode: Text.WordWrap
+                        text: "\u2022 " + modelData.id
+                              + ": " + modelData.inputPoints
+                              + " \u2192 " + modelData.outputPoints
+                              + " (\u2212" + modelData.removedPoints + "), "
+                              + modelData.elapsedMs + " мс"
+                        color: Theme.summaryDetailText
+                        font.pixelSize: Theme.fontXs
+                    }
+                }
+            }
         }
     }
 }

src/ui/qml/components/pipeline/StageChainView.qml

@@ -1,7 +1,6 @@
 import QtQuick 2.12
 import QtQuick.Controls 2.12
 import QtQuick.Layouts 1.12
-import "../../shared/PipelineUiCatalog.js" as UiCatalog
 import "../../shared/Theme.js" as Theme
 
 Item {
@@ -9,14 +8,34 @@ Item {
     property var safeBackend
     property int selectedIndex: -1
     signal settingsRequested(var stageItem)
+    function categoryAccentColor(category) {
+        if (category === "Обрезка")
+            return "#88d1ff"
+        if (category === "NaN (предочистка)")
+            return "#8fe8ff"
+        if (category === "Условия/Индексы")
+            return "#9fd7ff"
+        if (category === "Шум")
+            return "#a4f4b9"
+        if (category === "Морфология")
+            return "#9cf5d1"
+        if (category === "Прореживание")
+            return "#ffcb8a"
+        if (category === "Сглаживание")
+            return "#ffd892"
+        if (category === "Нормали")
+            return "#d2b7ff"
+        if (category === "Реконструкция")
+            return "#ff9dc4"
+        return Theme.chainDragHandle
+    }
 
     ListView {
         id: stageList
         anchors.left: parent.left
         anchors.right: parent.right
         anchors.top: parent.top
-        anchors.bottom: reconstructionCard.top
-        anchors.bottomMargin: Theme.spacingSm
+        anchors.bottom: parent.bottom
         clip: true
         model: root.safeBackend.stageCards
 
@@ -35,8 +54,15 @@ Item {
                 anchors.margins: Theme.spacingSm
                 spacing: Theme.spacingSm
 
+                Rectangle {
+                    width: 4
+                    Layout.fillHeight: true
+                    radius: 2
+                    color: root.categoryAccentColor(modelData.category)
+                }
+
                 Label {
-                    text: "↕"
+                    text: modelData.family === "reconstruction" ? "REC" : "↕"
                     color: Theme.chainDragHandle
                     font.pixelSize: Theme.fontLg
                     width: Theme.stageHandleWidth
@@ -46,6 +72,8 @@ Item {
                         id: dragHandle
                         anchors.fill: parent
                         drag.target: dragProxy
+                        enabled: modelData.family !== "reconstruction"
+                        cursorShape: enabled ? Qt.SizeAllCursor : Qt.PointingHandCursor
                         onPressed: root.safeBackend.setSelectedStageIndex(index)
                     }
                 }
@@ -53,7 +81,7 @@ Item {
                 ColumnLayout {
                     Layout.fillWidth: true
                     Label { text: modelData.title; color: Theme.paletteFilterText; font.bold: true; font.pixelSize: Theme.fontMd }
-                    Label { text: modelData.category + " | " + modelData.id; color: Theme.chainDragHandle; font.pixelSize: Theme.fontXs }
+                    Label { text: modelData.category + " | " + modelData.id; color: root.categoryAccentColor(modelData.category); font.pixelSize: Theme.fontXs }
                 }
             }
 
@@ -75,7 +103,8 @@ Item {
             DropArea {
                 anchors.fill: parent
                 onEntered: {
-                    if (drag.source && drag.source !== rowRoot && drag.source.itemIndex !== undefined) {
+                    if (drag.source && drag.source !== rowRoot && drag.source.itemIndex !== undefined
+                            && modelData.family !== "reconstruction") {
                         root.safeBackend.moveStage(drag.source.itemIndex, index)
                     }
                 }
@@ -85,6 +114,7 @@ Item {
                 anchors.fill: parent
                 z: -1
                 hoverEnabled: true
+                cursorShape: Qt.PointingHandCursor
                 acceptedButtons: Qt.LeftButton | Qt.RightButton
                 onClicked: root.safeBackend.setSelectedStageIndex(index)
                 onDoubleClicked: {
@@ -103,51 +133,10 @@ Item {
                 id: stageMenu
                 MenuItem {
                     text: "Удалить элемент"
+                    enabled: modelData.family !== "reconstruction"
                     onTriggered: root.safeBackend.removeStage(index)
                 }
             }
         }
     }
-
-    Rectangle {
-        id: reconstructionCard
-        anchors.left: parent.left
-        anchors.right: parent.right
-        anchors.bottom: parent.bottom
-        height: Theme.stageRowHeight
-        radius: Theme.radiusMd
-        border.width: 1
-        border.color: Theme.reconstructionBorder
-        color: Theme.reconstructionBg
-
-        RowLayout {
-            anchors.fill: parent
-            anchors.margins: Theme.spacingSm
-            spacing: Theme.spacingSm
-
-            Label {
-                text: "REC"
-                color: Theme.reconstructionAccent
-                font.bold: true
-                font.pixelSize: Theme.fontSm
-                width: Theme.reconstructionBadgeWidth
-                horizontalAlignment: Text.AlignHCenter
-                verticalAlignment: Text.AlignVCenter
-            }
-            ColumnLayout {
-                Layout.fillWidth: true
-                Label {
-                    text: UiCatalog.reconstructionTitle(root.safeBackend.reconstructionMethod)
-                    color: Theme.reconstructionText
-                    font.bold: true
-                    font.pixelSize: Theme.fontMd
-                }
-                Label {
-                    text: "Реконструкция | " + root.safeBackend.reconstructionMethod
-                    color: Theme.reconstructionSubtext
-                    font.pixelSize: Theme.fontXs
-                }
-            }
-        }
-    }
 }

src/ui/qml/components/pipeline/StagePalette.qml

@@ -19,54 +19,77 @@ Item {
             width: parent.width
             spacing: Theme.spacingXs
 
-            Label { text: "Фильтры"; font.bold: true; color: Theme.paletteHeader; padding: Theme.spacingXs }
+            Label { text: "Стадии по этапам"; font.bold: true; color: Theme.paletteHeader; padding: Theme.spacingXs }
             Repeater {
-                model: UiCatalog.filterPaletteModel()
-                delegate: Rectangle {
-                    property string paletteStageId: modelData.idValue
+                model: UiCatalog.filterPaletteGroupedModel()
+                delegate: Column {
+                    id: phaseSection
+                    property color accentColor: modelData.phaseAccent ? modelData.phaseAccent : Theme.paletteHeader
+                    property color filterBgColor: modelData.phaseFilterBg ? modelData.phaseFilterBg : Theme.paletteFilterBg
+                    property color filterBorderColor: modelData.phaseFilterBorder ? modelData.phaseFilterBorder : Theme.paletteFilterBorder
                     width: paletteColumn.width
-                    height: Theme.paletteItemHeight
-                    radius: Theme.radiusSm
-                    color: Theme.paletteFilterBg
-                    border.width: 1
-                    border.color: Theme.paletteFilterBorder
-                    Label {
-                        anchors.verticalCenter: parent.verticalCenter
-                        anchors.left: parent.left
-                        anchors.leftMargin: Theme.spacingMd
-                        text: modelData.title
-                        color: Theme.paletteFilterText
-                        font.pixelSize: Theme.fontSm
-                    }
-                    MouseArea {
-                        anchors.fill: parent
-                        onDoubleClicked: root.safeBackend.addStage(parent.paletteStageId)
-                    }
-                }
-            }
+                    spacing: Theme.spacingXs / 2
 
-            Label { text: "Реконструкторы поверхности"; font.bold: true; color: Theme.paletteHeader; padding: Theme.spacingXs }
-            Repeater {
-                model: UiCatalog.reconstructionPaletteModel()
-                delegate: Rectangle {
-                    property string paletteStageId: modelData.idValue
-                    width: paletteColumn.width
-                    height: Theme.paletteItemHeight
-                    radius: Theme.radiusSm
-                    color: Theme.paletteReconBg
-                    border.width: 1
-                    border.color: Theme.paletteReconBorder
                     Label {
-                        anchors.verticalCenter: parent.verticalCenter
-                        anchors.left: parent.left
-                        anchors.leftMargin: Theme.spacingMd
-                        text: modelData.title
-                        color: Theme.paletteReconText
-                        font.pixelSize: Theme.fontSm
+                        text: modelData.phaseTitle
+                        font.bold: true
+                        color: phaseSection.accentColor
+                        padding: Theme.spacingXs
                     }
-                    MouseArea {
-                        anchors.fill: parent
-                        onDoubleClicked: root.safeBackend.setReconstructionMethod(parent.paletteStageId)
+
+                    Label {
+                        visible: modelData.phaseHint.length > 0
+                        text: modelData.phaseHint
+                        color: phaseSection.accentColor
+                        font.pixelSize: Theme.fontXs
+                        leftPadding: Theme.spacingXs
+                    }
+
+                    Label {
+                        visible: modelData.items.length === 0
+                        text: "Пока нет доступных фильтров для этого этапа."
+                        color: phaseSection.accentColor
+                        font.pixelSize: Theme.fontXs
+                        leftPadding: Theme.spacingXs
+                    }
+
+                    Repeater {
+                        model: modelData.items
+                        delegate: Rectangle {
+                            property string paletteStageId: modelData.idValue
+                            width: paletteColumn.width
+                            height: Theme.paletteItemHeight
+                            radius: Theme.radiusSm
+                            color: phaseSection.filterBgColor
+                            border.width: 1
+                            border.color: phaseSection.filterBorderColor
+
+                            Label {
+                                anchors.verticalCenter: parent.verticalCenter
+                                anchors.left: parent.left
+                                anchors.leftMargin: Theme.spacingMd
+                                text: modelData.title
+                                color: Theme.paletteFilterText
+                                font.pixelSize: Theme.fontSm
+                            }
+
+                            ToolTip.visible: hoverArea.containsMouse
+                            ToolTip.text: modelData.hint
+                            ToolTip.delay: 200
+
+                            MouseArea {
+                                id: hoverArea
+                                anchors.fill: parent
+                                hoverEnabled: true
+                                cursorShape: Qt.PointingHandCursor
+                                onDoubleClicked: {
+                                    if (modelData.family === "reconstruction")
+                                        root.safeBackend.setReconstructionMethod(parent.paletteStageId)
+                                    else
+                                        root.safeBackend.addStage(parent.paletteStageId)
+                                }
+                            }
+                        }
                     }
                 }
             }

src/ui/qml/dialogs/StageSettingsDialog.qml

@@ -24,6 +24,12 @@ Dialog {
     width: Theme.dialogWidth
     title: ""
     standardButtons: Dialog.NoButton
+    background: Rectangle {
+        radius: Theme.radiusMd
+        color: Theme.dialogBg
+        border.color: Theme.dialogBorder
+        border.width: 1
+    }
 
     onAccepted: {
         if (safeBackend.selectedStageIndex >= 0) {
@@ -36,15 +42,17 @@ Dialog {
     onOpened: root.paramItems = UiCatalog.parseDefaults(popupItem.defaults)
 
     contentItem: ColumnLayout {
-        spacing: Theme.spacingSm
+        spacing: Theme.dialogContentSpacing
         Label {
             text: popupItem.title ? popupItem.title : "Элемент не выбран"
             font.bold: true
+            color: Theme.controlText
             wrapMode: Text.WordWrap
             Layout.fillWidth: true
         }
         Label {
             text: popupItem.hint ? popupItem.hint : "Для этого элемента нет подробного описания."
+            color: Theme.dialogDescriptionText
             wrapMode: Text.WordWrap
             Layout.fillWidth: true
         }
@@ -58,10 +66,10 @@ Dialog {
             model: root.paramItems
             delegate: ColumnLayout {
                 Layout.fillWidth: true
-                spacing: 2
+                spacing: Theme.spacingXs / 2
                 RowLayout {
                     Layout.fillWidth: true
-                    spacing: Theme.spacingMd
+                    spacing: Theme.dialogRowSpacing
                     Label {
                         text: modelData.key + ":"
                         color: Theme.dialogHintText
@@ -71,12 +79,30 @@ Dialog {
                     ComboBox {
                         Layout.fillWidth: true
                         visible: modelData.kind === "bool"
+                        hoverEnabled: true
                         model: ["false", "true"]
                         currentIndex: modelData.value === "true" ? 1 : 0
                         onCurrentTextChanged: {
                             if (modelData.kind === "bool")
                                 root.updateParamValue(index, currentText)
                         }
+                        contentItem: Text {
+                            text: parent.displayText
+                            color: Theme.controlText
+                            verticalAlignment: Text.AlignVCenter
+                            leftPadding: Theme.spacingSm
+                        }
+                        background: Rectangle {
+                            radius: Theme.radiusSm
+                            color: Theme.controlBg
+                            border.color: Theme.controlBorder
+                            border.width: 1
+                        }
+                        MouseArea {
+                            anchors.fill: parent
+                            acceptedButtons: Qt.NoButton
+                            cursorShape: Qt.PointingHandCursor
+                        }
                     }
                     TextField {
                         Layout.fillWidth: true
@@ -84,6 +110,19 @@ Dialog {
                         text: modelData.value
                         validator: IntValidator {}
                         onEditingFinished: root.updateParamValue(index, text)
+                        color: Theme.controlText
+                        placeholderTextColor: Theme.controlPlaceholder
+                        background: Rectangle {
+                            radius: Theme.radiusSm
+                            color: Theme.controlBg
+                            border.color: Theme.controlBorder
+                            border.width: 1
+                        }
+                        MouseArea {
+                            anchors.fill: parent
+                            acceptedButtons: Qt.NoButton
+                            cursorShape: Qt.IBeamCursor
+                        }
                     }
                     TextField {
                         Layout.fillWidth: true
@@ -91,12 +130,38 @@ Dialog {
                         text: modelData.value
                         validator: DoubleValidator {}
                         onEditingFinished: root.updateParamValue(index, text)
+                        color: Theme.controlText
+                        placeholderTextColor: Theme.controlPlaceholder
+                        background: Rectangle {
+                            radius: Theme.radiusSm
+                            color: Theme.controlBg
+                            border.color: Theme.controlBorder
+                            border.width: 1
+                        }
+                        MouseArea {
+                            anchors.fill: parent
+                            acceptedButtons: Qt.NoButton
+                            cursorShape: Qt.IBeamCursor
+                        }
                     }
                     TextField {
                         Layout.fillWidth: true
                         visible: modelData.kind === "string"
                         text: modelData.value
                         onEditingFinished: root.updateParamValue(index, text)
+                        color: Theme.controlText
+                        placeholderTextColor: Theme.controlPlaceholder
+                        background: Rectangle {
+                            radius: Theme.radiusSm
+                            color: Theme.controlBg
+                            border.color: Theme.controlBorder
+                            border.width: 1
+                        }
+                        MouseArea {
+                            anchors.fill: parent
+                            acceptedButtons: Qt.NoButton
+                            cursorShape: Qt.IBeamCursor
+                        }
                     }
                 }
                 Label {
@@ -110,18 +175,34 @@ Dialog {
         }
         RowLayout {
             Layout.fillWidth: true
-            Layout.topMargin: Theme.spacingMd
-            spacing: Theme.spacingMd
+            Layout.topMargin: Theme.spacingSm
+            spacing: Theme.dialogRowSpacing
             Button {
                 text: "Установить по умолчанию"
                 Layout.preferredWidth: Theme.dialogResetButtonWidth
+                hoverEnabled: true
                 onClicked: root.paramItems = UiCatalog.parseDefaults(safeBackend.defaultsForStage(popupItem.id))
+                contentItem: Text { text: parent.text; color: Theme.buttonText; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                background: Rectangle { radius: Theme.radiusSm; color: parent.down ? Theme.buttonPressedBg : (parent.hovered ? Theme.buttonHoverBg : Theme.buttonBg); border.color: Theme.buttonBorder; border.width: 1 }
+                MouseArea {
+                    anchors.fill: parent
+                    acceptedButtons: Qt.NoButton
+                    cursorShape: Qt.PointingHandCursor
+                }
             }
             Item { Layout.fillWidth: true }
             Button {
                 text: "OK"
                 Layout.preferredWidth: Theme.dialogOkButtonWidth
+                hoverEnabled: true
                 onClicked: root.accept()
+                contentItem: Text { text: parent.text; color: Theme.primaryButtonText; font.bold: true; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                background: Rectangle { radius: Theme.radiusSm; color: parent.down ? Theme.primaryButtonPressedBg : (parent.hovered ? Theme.primaryButtonHoverBg : Theme.primaryButtonBg); border.color: Theme.primaryButtonBorder; border.width: 1 }
+                MouseArea {
+                    anchors.fill: parent
+                    acceptedButtons: Qt.NoButton
+                    cursorShape: Qt.PointingHandCursor
+                }
             }
         }
     }

src/ui/qml/pages/PipelineDashboard.qml

@@ -7,15 +7,27 @@ import "../shared/Theme.js" as Theme
 Rectangle {
     color: Theme.panelBg
     property int compactH: Theme.compactControlHeight
+    property int selectedPresetIndex: 0
     readonly property var safeBackend: backend ? backend : ({
         surfaceVisible: true,
-        demoSurfaceTypes: ["Сфера", "Тор", "Волна"],
+        busy: false,
+        demoSurfaceTypes: ["Сфера", "Тор", "Волна", "Дно реки + труба"],
         demoSurfaceType: "Сфера",
+        presetItems: [
+            { title: "LiDAR-скан", idValue: "LiDAR_scan" },
+            { title: "RGB-D камера", idValue: "RGBD_camera" },
+            { title: "Синтетика", idValue: "Synthetic_clean" }
+        ],
         openPointsFile: function() {},
         generateDemo: function() {},
         setDemoSurfaceType: function(_) {},
         setSurfaceVisible: function(_) {},
-        applyPipelineFromUi: function() {}
+        applyPipelineFromUi: function() {},
+        applyPreset: function(_) {},
+        saveCurrentPreset: function() {},
+        loadPresetFromFile: function() {},
+        exportCapabilitiesToFile: function() {},
+        chooseUserDataDirectory: function() {}
     })
 
     ColumnLayout {
@@ -29,15 +41,68 @@ Rectangle {
             ComboBox {
                 Layout.preferredWidth: Theme.dashboardSurfaceComboWidth
                 Layout.preferredHeight: compactH
+                hoverEnabled: true
                 model: safeBackend.demoSurfaceTypes
                 currentIndex: model.indexOf(safeBackend.demoSurfaceType)
                 onActivated: safeBackend.setDemoSurfaceType(currentText)
+                contentItem: Text {
+                    text: parent.displayText
+                    color: Theme.controlText
+                    verticalAlignment: Text.AlignVCenter
+                    leftPadding: Theme.spacingSm
+                    elide: Text.ElideRight
+                }
+                background: Rectangle {
+                    radius: Theme.radiusSm
+                    color: parent.pressed ? Theme.controlHoverBg : Theme.controlBg
+                    border.color: Theme.controlBorder
+                    border.width: 1
+                }
+                MouseArea {
+                    anchors.fill: parent
+                    acceptedButtons: Qt.NoButton
+                    cursorShape: Qt.PointingHandCursor
+                }
+            }
+            Button {
+                text: "Сгенерировать"
+                height: compactH
+                hoverEnabled: true
+                onClicked: safeBackend.generateDemo()
+                contentItem: Text { text: parent.text; color: Theme.buttonText; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                background: Rectangle { radius: Theme.radiusSm; color: parent.down ? Theme.buttonPressedBg : (parent.hovered ? Theme.buttonHoverBg : Theme.buttonBg); border.color: Theme.buttonBorder; border.width: 1 }
+                MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
+            }
+            Button {
+                text: "Загрузить"
+                height: compactH
+                hoverEnabled: true
+                onClicked: safeBackend.openPointsFile()
+                contentItem: Text { text: parent.text; color: Theme.buttonText; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                background: Rectangle { radius: Theme.radiusSm; color: parent.down ? Theme.buttonPressedBg : (parent.hovered ? Theme.buttonHoverBg : Theme.buttonBg); border.color: Theme.buttonBorder; border.width: 1 }
+                MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
             }
-            Button { text: "Сгенерировать"; height: compactH; onClicked: safeBackend.generateDemo() }
-            Button { text: "Загрузить"; height: compactH; onClicked: safeBackend.openPointsFile() }
             Item { Layout.fillWidth: true }
         }
 
+        RowLayout {
+            Layout.fillWidth: true
+            spacing: Theme.spacingSm
+
+            Label {
+                text: "Пресет:"
+                color: Theme.summaryDetailText
+                font.pixelSize: Theme.fontSm
+            }
+            Label {
+                Layout.fillWidth: true
+                wrapMode: Text.WordWrap
+                text: "Стартовая цепочка: примените и при необходимости отредактируйте вручную."
+                color: Theme.chainDragHandle
+                font.pixelSize: Theme.fontXs
+            }
+        }
+
         PipelineCanvas {
             Layout.fillWidth: true
             Layout.fillHeight: true
@@ -46,9 +111,121 @@ Rectangle {
         RowLayout {
             Layout.fillWidth: true
             spacing: Theme.spacingSm
-            Switch { checked: safeBackend.surfaceVisible; onToggled: safeBackend.setSurfaceVisible(checked) }
+            Switch {
+                checked: safeBackend.surfaceVisible
+                onToggled: safeBackend.setSurfaceVisible(checked)
+                MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
+            }
             Item { Layout.fillWidth: true }
-            Button { text: "Применить"; Layout.preferredHeight: compactH; onClicked: safeBackend.applyPipelineFromUi() }
+            Button {
+                text: "Применить"
+                Layout.preferredHeight: compactH
+                hoverEnabled: true
+                onClicked: safeBackend.applyPipelineFromUi()
+                contentItem: Text { text: parent.text; color: Theme.primaryButtonText; font.bold: true; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                background: Rectangle {
+                    radius: Theme.radiusSm
+                    color: parent.down ? Theme.primaryButtonPressedBg : (parent.hovered ? Theme.primaryButtonHoverBg : Theme.primaryButtonBg)
+                    border.color: Theme.primaryButtonBorder
+                    border.width: 2
+                }
+                MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
+            }
+        }
+
+        ColumnLayout {
+            Layout.fillWidth: true
+            spacing: Theme.spacingXs
+
+            RowLayout {
+                Layout.fillWidth: true
+                spacing: Theme.spacingSm
+                ComboBox {
+                    Layout.preferredWidth: 190
+                    Layout.minimumWidth: 170
+                    Layout.maximumWidth: 220
+                    Layout.preferredHeight: compactH
+                    hoverEnabled: true
+                    model: safeBackend.presetItems
+                    textRole: "title"
+                    currentIndex: selectedPresetIndex
+                    onActivated: selectedPresetIndex = currentIndex
+                    contentItem: Text {
+                        text: parent.displayText
+                        color: Theme.controlText
+                        verticalAlignment: Text.AlignVCenter
+                        leftPadding: Theme.spacingSm
+                        elide: Text.ElideRight
+                    }
+                    background: Rectangle {
+                        radius: Theme.radiusSm
+                        color: parent.pressed ? Theme.controlHoverBg : Theme.controlBg
+                        border.color: Theme.controlBorder
+                        border.width: 1
+                    }
+                    MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
+                }
+                Button {
+                    text: "Применить пресет"
+                    Layout.preferredHeight: compactH
+                    hoverEnabled: true
+                    onClicked: {
+                        if (selectedPresetIndex >= 0 && selectedPresetIndex < safeBackend.presetItems.length)
+                            safeBackend.applyPreset(safeBackend.presetItems[selectedPresetIndex].idValue)
+                    }
+                    contentItem: Text { text: parent.text; color: Theme.buttonText; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                    background: Rectangle { radius: Theme.radiusSm; color: parent.down ? Theme.buttonPressedBg : (parent.hovered ? Theme.buttonHoverBg : Theme.buttonBg); border.color: Theme.buttonBorder; border.width: 1 }
+                    MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
+                }
+                Item { Layout.fillWidth: true }
+            }
+
+            Item {
+                Layout.fillWidth: true
+                implicitHeight: presetActionsFlow.childrenRect.height
+
+                Flow {
+                    id: presetActionsFlow
+                    width: parent.width
+                    spacing: Theme.spacingSm
+                    Button {
+                        text: "Загрузить пресет"
+                        height: compactH
+                        hoverEnabled: true
+                        onClicked: safeBackend.loadPresetFromFile()
+                        contentItem: Text { text: parent.text; color: Theme.buttonText; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                        background: Rectangle { radius: Theme.radiusSm; color: parent.down ? Theme.buttonPressedBg : (parent.hovered ? Theme.buttonHoverBg : Theme.buttonBg); border.color: Theme.buttonBorder; border.width: 1 }
+                        MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
+                    }
+                    Button {
+                        text: "Сохранить пресет"
+                        height: compactH
+                        hoverEnabled: true
+                        onClicked: safeBackend.saveCurrentPreset()
+                        contentItem: Text { text: parent.text; color: Theme.buttonText; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                        background: Rectangle { radius: Theme.radiusSm; color: parent.down ? Theme.buttonPressedBg : (parent.hovered ? Theme.buttonHoverBg : Theme.buttonBg); border.color: Theme.buttonBorder; border.width: 1 }
+                        MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
+                    }
+                    Button {
+                        text: "Выгрузка возможностей"
+                        height: compactH
+                        hoverEnabled: true
+                        onClicked: safeBackend.exportCapabilitiesToFile()
+                        contentItem: Text { text: parent.text; color: Theme.buttonText; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                        background: Rectangle { radius: Theme.radiusSm; color: parent.down ? Theme.buttonPressedBg : (parent.hovered ? Theme.buttonHoverBg : Theme.buttonBg); border.color: Theme.buttonBorder; border.width: 1 }
+                        MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
+                    }
+                    Button {
+                        text: "Папка данных"
+                        height: compactH
+                        hoverEnabled: true
+                        onClicked: safeBackend.chooseUserDataDirectory()
+                        contentItem: Text { text: parent.text; color: Theme.buttonText; horizontalAlignment: Text.AlignHCenter; verticalAlignment: Text.AlignVCenter }
+                        background: Rectangle { radius: Theme.radiusSm; color: parent.down ? Theme.buttonPressedBg : (parent.hovered ? Theme.buttonHoverBg : Theme.buttonBg); border.color: Theme.buttonBorder; border.width: 1 }
+                        MouseArea { anchors.fill: parent; acceptedButtons: Qt.NoButton; cursorShape: Qt.PointingHandCursor }
+                    }
+                }
+            }
         }
 
         MetricsStrip {
@@ -58,4 +235,31 @@ Rectangle {
         }
 
     }
+
+    Rectangle {
+        anchors.fill: parent
+        visible: safeBackend.busy
+        color: "#90000000"
+        z: 1000
+
+        MouseArea {
+            anchors.fill: parent
+            acceptedButtons: Qt.AllButtons
+        }
+
+        Column {
+            anchors.centerIn: parent
+            spacing: Theme.spacingSm
+
+            BusyIndicator {
+                running: safeBackend.busy
+                width: 40
+                height: 40
+            }
+            Label {
+                text: "Выполняются вычисления..."
+                color: "white"
+            }
+        }
+    }
 }

src/ui/qml/shared/PipelineUiCatalog.js

@@ -52,6 +52,58 @@ function paramDescription(key) {
         return "Радиус поиска соседей."
     if (key === "minNeighbors")
         return "Минимум соседей, чтобы точка считалась валидной."
+    if (key === "threshold")
+        return "Порог отклонения точки от геометрической модели."
+    if (key === "shadowThreshold")
+        return "Порог для удаления теневых точек по нормалям."
+    if (key === "resolution")
+        return "Размер ячейки 2D-сетки для фильтра GridMinimum."
+    if (key === "sample")
+        return "Количество точек, которое нужно оставить после выборки."
+    if (key === "axis")
+        return "Ось фильтрации: x, y или z."
+    if (key === "min" || key === "max")
+        return "Граница диапазона для фильтра PassThrough."
+    if (key === "minX" || key === "minY" || key === "minZ" || key === "maxX" || key === "maxY" || key === "maxZ")
+        return "Границы CropBox/CropHull по соответствующим осям."
+    if (key === "near" || key === "far")
+        return "Ближняя/дальняя граница фрустума."
+    if (key === "hfov" || key === "vfov")
+        return "Горизонтальный/вертикальный угол обзора (в градусах)."
+    if (key === "a" || key === "b" || key === "c" || key === "d")
+        return "Коэффициенты плоскости ax+by+cz+d=0."
+    if (key === "keepPositive")
+        return "Оставлять ли точки на положительной стороне плоскости."
+    if (key === "zMin" || key === "zMax")
+        return "Допустимый диапазон координаты Z для conditional-фильтра."
+    if (key === "nth")
+        return "Оставлять каждую N-ю точку."
+    if (key === "radiusMax")
+        return "Максимальный радиус точки от начала координат."
+    if (key === "sigmaS" || key === "sigmaR")
+        return "Параметры bilateral-фильтра (пространство/интенсивность)."
+    if (key === "sigma" || key === "kernel")
+        return "Параметры гауссова ядра свертки."
+    if (key === "iterations")
+        return "Число итераций уточнения."
+    if (key === "minHits")
+        return "Минимальная заполненность вокселя для прохождения фильтра."
+    if (key === "neighborRadiusScale")
+        return "Масштаб радиуса поиска соседей для fallback-реконструкции."
+    if (key === "runEveryNthFrame")
+        return "Запуск реконструкции на каждом N-м кадре."
+    if (key === "searchRadius")
+        return "Радиус поиска соседей для greedy triangulation."
+    if (key === "mu")
+        return "Коэффициент плотности соседей для greedy triangulation."
+    if (key === "maxNearest")
+        return "Максимум соседей для greedy triangulation."
+    if (key === "maxSurfaceAngle")
+        return "Максимальный угол поверхности в радианах."
+    if (key === "poissonDepth")
+        return "Глубина октодерева для Poisson реконструкции."
+    if (key === "samplesPerNode")
+        return "Число выборок на узел для сглаживания Poisson."
     return "Параметр этапа обработки."
 }
 
@@ -60,22 +112,346 @@ function reconstructionTitle(id) {
         return "Fallback Surface"
     if (id === "pcl_greedy_triangulation")
         return "PCL Greedy Triangulation"
+    if (id === "pcl_poisson_reconstruction")
+        return "PCL Poisson Reconstruction"
     return id
 }
 
-function filterPaletteModel() {
+function phaseModel() {
     return [
-        { title: "Крупнейший кластер", idValue: "keep_largest_cluster" },
-        { title: "Прореживание плотности", idValue: "downsample_dense" },
-        { title: "PCL Voxel Grid", idValue: "pcl_voxel_grid" },
-        { title: "Статистическая фильтрация", idValue: "pcl_statistical_outlier" },
-        { title: "Радиусная фильтрация", idValue: "pcl_radius_outlier" }
+        {
+            id: "crop",
+            title: "Обрезка",
+            hint: "Ограничение области интереса и удаление лишних фрагментов.",
+            accent: "#88d1ff",
+            filterBg: "#263e55",
+            filterBorder: "#4b7598"
+        },
+        {
+            id: "nan_preclean",
+            title: "NaN (предочистка)",
+            hint: "Удаление NaN сразу после загрузки/обрезки, иначе статистические фильтры работают нестабильно.",
+            accent: "#8fe8ff",
+            filterBg: "#1f4450",
+            filterBorder: "#3f8394"
+        },
+        {
+            id: "conditions_indexes",
+            title: "Условия/Индексы",
+            hint: "Отбор точек по полям, диапазонам и индексным маскам.",
+            accent: "#9fd7ff",
+            filterBg: "#24405a",
+            filterBorder: "#4f7aa1"
+        },
+        {
+            id: "noise",
+            title: "Шум",
+            hint: "Удаление выбросов и нестабильных точек перед геометрией.",
+            accent: "#a4f4b9",
+            filterBg: "#244534",
+            filterBorder: "#4b8f68"
+        },
+        {
+            id: "morphology",
+            title: "Морфология",
+            hint: "Геометрические операции локальной структуры облака.",
+            accent: "#9cf5d1",
+            filterBg: "#1f4a3e",
+            filterBorder: "#4b8f7d"
+        },
+        {
+            id: "downsample",
+            title: "Прореживание",
+            hint: "Снижение плотности облака для скорости и устойчивости.",
+            accent: "#ffcb8a",
+            filterBg: "#4a3724",
+            filterBorder: "#8e6f47"
+        },
+        {
+            id: "smoothing",
+            title: "Сглаживание",
+            hint: "Снижение локального шума перед расчетом нормалей и реконструкцией.",
+            accent: "#ffd892",
+            filterBg: "#4e3a22",
+            filterBorder: "#917349"
+        },
+        {
+            id: "normals",
+            title: "Нормали",
+            hint: "Подготовка нормалей для продвинутой реконструкции (этап зарезервирован).",
+            accent: "#d2b7ff",
+            filterBg: "#3e3155",
+            filterBorder: "#6f5a95"
+        },
+        {
+            id: "reconstruction",
+            title: "Реконструкция",
+            hint: "Построение поверхности по подготовленному облаку точек.",
+            accent: "#ff9dc4",
+            filterBg: "#4b2f40",
+            filterBorder: "#8d5a75"
+        }
     ]
 }
 
+function filterDefinitions() {
+    return [
+        {
+            title: "Крупнейший кластер",
+            idValue: "keep_largest_cluster",
+            phaseId: "crop",
+            hint: "Оставляет основной объект и отбрасывает изолированные фрагменты."
+        },
+        {
+            title: "Remove NaN Points",
+            idValue: "pcl_remove_nan",
+            phaseId: "nan_preclean",
+            family: "preprocess",
+            hint: "Удаляет NaN/Inf после загрузки и обрезки, до статистических фильтров."
+        },
+        {
+            title: "Remove NaN Normals",
+            idValue: "pcl_remove_nan_normals",
+            phaseId: "nan_preclean",
+            family: "preprocess",
+            hint: "Удаляет невалидные нормали (в текущем формате — невалидную геометрию)."
+        },
+        {
+            title: "PassThrough",
+            idValue: "pcl_pass_through",
+            phaseId: "crop",
+            hint: "Фильтрует точки по диапазону выбранной оси."
+        },
+        {
+            title: "CropBox",
+            idValue: "pcl_crop_box",
+            phaseId: "crop",
+            hint: "Ограничивает облако заданным 3D-параллелепипедом."
+        },
+        {
+            title: "CropHull",
+            idValue: "pcl_crop_hull",
+            phaseId: "crop",
+            hint: "Обрезка по области интереса (в текущей версии через box-границы)."
+        },
+        {
+            title: "Frustum Culling",
+            idValue: "pcl_frustum_culling",
+            phaseId: "crop",
+            hint: "Оставляет точки в пирамиде видимости камеры."
+        },
+        {
+            title: "PlaneClipper3D",
+            idValue: "pcl_plane_clipper_3d",
+            phaseId: "crop",
+            hint: "Отсекает точки по уравнению плоскости."
+        },
+        {
+            title: "Conditional Removal",
+            idValue: "pcl_conditional_removal",
+            phaseId: "conditions_indexes",
+            hint: "Удаляет точки по логическому условию (диапазон Z)."
+        },
+        {
+            title: "Extract Indices",
+            idValue: "pcl_extract_indices",
+            phaseId: "conditions_indexes",
+            hint: "Извлекает точки по индексной маске (каждая N-я)."
+        },
+        {
+            title: "Functor Filter",
+            idValue: "pcl_functor_filter",
+            phaseId: "conditions_indexes",
+            hint: "Пользовательский предикат (радиус + проверка валидности)."
+        },
+        {
+            title: "ProjectInliers",
+            idValue: "pcl_project_inliers",
+            phaseId: "normals",
+            hint: "Проецирует точки на геометрическую модель (плоскость)."
+        },
+        {
+            title: "Normal Refinement",
+            idValue: "pcl_normal_refinement",
+            phaseId: "normals",
+            hint: "Уточняет локальную геометрию по соседям."
+        },
+        {
+            title: "Статистическая фильтрация",
+            idValue: "pcl_statistical_outlier",
+            phaseId: "noise",
+            hint: "Удаляет выбросы на основе распределения расстояний до соседей."
+        },
+        {
+            title: "Радиусная фильтрация",
+            idValue: "pcl_radius_outlier",
+            phaseId: "noise",
+            hint: "Удаляет точки с недостаточным числом соседей в заданном радиусе."
+        },
+        {
+            title: "Model Outlier Removal",
+            idValue: "pcl_model_outlier",
+            phaseId: "noise",
+            hint: "Удаляет точки, отклоняющиеся от геометрической модели."
+        },
+        {
+            title: "Shadow Points Removal",
+            idValue: "pcl_shadow_points",
+            phaseId: "noise",
+            hint: "Удаляет теневые точки на основе нормалей поверхности."
+        },
+        {
+            title: "Approximate Voxel Grid",
+            idValue: "pcl_approximate_voxel_grid",
+            phaseId: "downsample",
+            hint: "Ускоренное воксельное прореживание для больших облаков."
+        },
+        {
+            title: "Voxel Grid Label",
+            idValue: "pcl_voxel_grid_label",
+            phaseId: "downsample",
+            hint: "Воксельное прореживание с поддержкой меток."
+        },
+        {
+            title: "Voxel Grid Covariance",
+            idValue: "pcl_voxel_grid_covariance",
+            phaseId: "downsample",
+            hint: "Воксельная сетка с ковариациями (для NDT-пайплайнов)."
+        },
+        {
+            title: "Grid Minimum",
+            idValue: "pcl_grid_minimum",
+            phaseId: "downsample",
+            hint: "Оставляет точку с минимальным Z в каждой ячейке."
+        },
+        {
+            title: "Farthest Point Sampling",
+            idValue: "pcl_farthest_point_sampling",
+            phaseId: "downsample",
+            hint: "Выбирает наиболее удаленные друг от друга точки."
+        },
+        {
+            title: "Normal Space Sampling",
+            idValue: "pcl_normal_space_sampling",
+            phaseId: "downsample",
+            hint: "Равномерная выборка в пространстве нормалей."
+        },
+        {
+            title: "Sampling Surface Normal",
+            idValue: "pcl_sampling_surface_normal",
+            phaseId: "downsample",
+            hint: "Выборка точек на основе нормалей поверхности."
+        },
+        {
+            title: "Bilateral Filter",
+            idValue: "pcl_bilateral_filter",
+            phaseId: "smoothing",
+            hint: "Двустороннее сглаживание с сохранением границ."
+        },
+        {
+            title: "Fast Bilateral Filter",
+            idValue: "pcl_fast_bilateral_filter",
+            phaseId: "smoothing",
+            hint: "Быстрое двустороннее сглаживание."
+        },
+        {
+            title: "Fast Bilateral Filter OMP",
+            idValue: "pcl_fast_bilateral_filter_omp",
+            phaseId: "smoothing",
+            hint: "Параллельная версия bilateral-фильтра."
+        },
+        {
+            title: "Convolution",
+            idValue: "pcl_convolution",
+            phaseId: "smoothing",
+            hint: "Свертка облака точек с ядром."
+        },
+        {
+            title: "Gaussian Kernel",
+            idValue: "pcl_gaussian_kernel",
+            phaseId: "smoothing",
+            hint: "Гауссово ядро свертки."
+        },
+        {
+            title: "Gaussian Kernel RGB",
+            idValue: "pcl_gaussian_kernel_rgb",
+            phaseId: "smoothing",
+            hint: "Гауссово ядро с RGB-ориентированной семантикой."
+        },
+        {
+            title: "VoxelGrid Occlusion Estimation",
+            idValue: "pcl_voxel_grid_occlusion",
+            phaseId: "morphology",
+            hint: "Оценка окклюзии через заполненность вокселей."
+        },
+        {
+            title: "Fallback Surface",
+            idValue: "surface_fallback",
+            phaseId: "reconstruction",
+            family: "reconstruction",
+            hint: "Базовая реконструкция поверхности по облаку точек."
+        },
+        {
+            title: "PCL Greedy Triangulation",
+            idValue: "pcl_greedy_triangulation",
+            phaseId: "reconstruction",
+            family: "reconstruction",
+            hint: "Жадная триангуляция с параметрами радиуса и углов."
+        },
+        {
+            title: "PCL Poisson Reconstruction",
+            idValue: "pcl_poisson_reconstruction",
+            phaseId: "reconstruction",
+            family: "reconstruction",
+            hint: "Реконструкция поверхности методом Poisson из libpcl_surface."
+        },
+        {
+            title: "Прореживание плотности",
+            idValue: "downsample_dense",
+            phaseId: "downsample",
+            hint: "Снижает число точек для ускорения пайплайна на плотных облаках."
+        },
+        {
+            title: "PCL Voxel Grid",
+            idValue: "pcl_voxel_grid",
+            phaseId: "downsample",
+            hint: "Равномерно прореживает облако с помощью воксельной сетки."
+        }
+    ]
+}
+
+function filterPaletteModel() {
+    return filterDefinitions()
+}
+
+function filterPaletteGroupedModel() {
+    var phases = phaseModel()
+    var filters = filterDefinitions()
+    var grouped = []
+    for (var p = 0; p < phases.length; ++p) {
+        var phase = phases[p]
+        var items = []
+        for (var i = 0; i < filters.length; ++i) {
+            if (filters[i].phaseId === phase.id)
+                items.push(filters[i])
+        }
+        grouped.push({
+            phaseId: phase.id,
+            phaseTitle: phase.title,
+            phaseHint: phase.hint,
+            phaseAccent: phase.accent,
+            phaseFilterBg: phase.filterBg,
+            phaseFilterBorder: phase.filterBorder,
+            items: items
+        })
+    }
+    return grouped
+}
+
 function reconstructionPaletteModel() {
     return [
         { title: "Fallback Surface", idValue: "surface_fallback" },
-        { title: "PCL Greedy Triangulation", idValue: "pcl_greedy_triangulation" }
+        { title: "PCL Greedy Triangulation", idValue: "pcl_greedy_triangulation" },
+        { title: "PCL Poisson Reconstruction", idValue: "pcl_poisson_reconstruction" }
     ]
 }

src/ui/qml/shared/Theme.js

@@ -30,9 +30,29 @@ var summarySecondaryText = "#cde0ff"
 var summaryRecommendation = "#9ec3ff"
 var summaryDetailText = "#b8cff8"
 
-var dialogHintText = "#4a4f63"
-var dialogDescriptionText = "#7e869d"
-var dialogSectionText = "#9eb0d9"
+var dialogHintText = "#c7d6f3"
+var dialogDescriptionText = "#aebfde"
+var dialogSectionText = "#dce7ff"
+var dialogBg = "#1a2234"
+var dialogBorder = "#3a4f78"
+
+var controlBg = "#23324d"
+var controlBorder = "#4a6494"
+var controlText = "#eaf0ff"
+var controlPlaceholder = "#9cb0d6"
+var controlHoverBg = "#2a3b5a"
+
+var buttonBg = "#2c3f61"
+var buttonBorder = "#5574a9"
+var buttonText = "#eef4ff"
+var buttonHoverBg = "#35507a"
+var buttonPressedBg = "#273b5c"
+
+var primaryButtonBg = "#ffb020"
+var primaryButtonBorder = "#ffd27a"
+var primaryButtonText = "#142033"
+var primaryButtonHoverBg = "#ffc247"
+var primaryButtonPressedBg = "#e39b0f"
 
 var spacingXs = 4
 var spacingSm = 6
@@ -43,7 +63,7 @@ var radiusMd = 8
 var compactControlHeight = 28
 
 var dashboardSurfaceComboWidth = 170
-var dashboardMetricsHeight = 96
+var dashboardMetricsHeight = 148
 var dashboardBottomMargin = 8
 var palettePanelWidth = 260
 
@@ -52,10 +72,12 @@ var stageHandleWidth = 16
 var reconstructionBadgeWidth = 28
 var paletteItemHeight = 30
 
-var dialogWidth = 430
-var dialogLabelWidth = 150
-var dialogResetButtonWidth = 190
-var dialogOkButtonWidth = 90
+var dialogWidth = 390
+var dialogLabelWidth = 128
+var dialogResetButtonWidth = 168
+var dialogOkButtonWidth = 76
+var dialogContentSpacing = 4
+var dialogRowSpacing = 6
 
 var fontXs = 10
 var fontSm = 11