[docs] consistency across impl and documentation

fully generated by gemini+opencode

AGENTS.md

@@ -66,12 +66,12 @@ Adhere strictly to **Modern C++20** standards.
 ### Naming Conventions
 - **Files:** `snake_case.cpp`, `snake_case.hpp`.
 - **Classes/Structs:** `PascalCase`.
-- **Functions/Methods:** `snake_case` (or `camelCase` if adhering strictly to a specific external library style, but default to snake_case).
+- **Functions/Methods:** `snake_case`.
 - **Variables:** `snake_case`.
 - **Private Members:** `snake_case_` (trailing underscore).
-- **Constants:** `kPascalCase` or `ALL_CAPS` for macros (avoid macros).
+- **Constants:** `kPascalCase` or `ALL_CAPS` for macros.
-- **Namespaces:** `snake_case`.
+- **Namespaces:** `score` (primary project namespace).
-- **Interfaces:** `IPascalCase` (optional, but consistent if used).
+- **Interfaces:** `IPascalCase`.
 
 ### Project Structure
 - `include/cloud_point_rpc/`: Public header files.
@@ -92,7 +92,7 @@ Adhere strictly to **Modern C++20** standards.
 ### Example Class
 
 ```cpp
-namespace cloud_point_rpc {
+namespace score {
 
 /// @brief Manages camera parameters.
 class CameraController {
@@ -114,7 +114,7 @@ class CameraController {
   std::vector<double> cached_intrinsics_;
 };
 
-} // namespace cloud_point_rpc
+} // namespace score
 ```
 
 ### Implementation Details

README.md

@@ -2,10 +2,19 @@
 
 Communication JSON RPC protocol and implementation with Unity Scene.
 
-## TODO
+## Project Structure
+
+- `include/`: Header files for the RPC server, TCP server, and C-API.
+- `src/`: Implementation of the RPC logic, networking, and C-API.
+- `src/cloud_point/`: OpenCV-based image processing and rectification logic.
+- `docs/`: Documentation diagrams and models.
+- `subprojects/`: Dependencies managed by Meson.
+
+## Status
 
 - [x] Server implementation with C-API for Unity
-- [ ] Client correct implementation with OpenCV 
+- [x] Basic OpenCV image processing (Rectification, Image wrapper)
+- [ ] Full OpenCV client implementation
 
 ## API Documentation
 
@@ -17,20 +26,29 @@ The project uses **Meson** build system and **C++20**.
 
 ### Dependencies
 
-- Meson, Ninja
+- Meson (>= 1.1.0), Ninja
 - GCC/Clang (C++20 support)
 - Git (for subprojects)
+- OpenCV (for cloud point compute)
+
+The following dependencies are managed via Meson subprojects:
+- [ASIO](https://think-async.com/Asio/) (Networking)
+- [nlohmann/json](https://github.com/nlohmann/json) (JSON serialization)
+- [yaml-cpp](https://github.com/jbeder/yaml-cpp) (Configuration loading)
+- [glog](https://github.com/google/glog) (Logging)
+- [jsonrpccxx](https://github.com/uS-S/jsonrpccxx) (JSON-RPC 2.0 implementation)
+- [stdexec](https://github.com/NVIDIA/stdexec) (P2300 Senders/Receivers)
 
 ### Build & Run
 
 ```bash
-git submodule init
-git submodule update
 meson setup build
 meson compile -C build
 ./build/src/cloud_point_rpc_server config.yaml
 ```
 
+*Note: You need a `config.yaml` file. See `config.yaml.example` for the required format.*
+
 #### Build on windows
 
 It's assumed that you have `GCC` and `make`/`ninja` installed on your system (and available in `PATH`)

config.yaml.example

@@ -0,0 +1,11 @@
+server:
+  ip: "127.0.0.1"
+  port: 8080
+
+test_data:
+  intrinsic_params: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  extrinsic_params: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
+  cloud_point:
+    - [0.1, 0.2, 0.3]
+    - [1.1, 1.2, 1.3]
+    - [5.5, 6.6, 7.7]

include/cloud_point_rpc/cli.hpp

@@ -1,8 +1,8 @@
 #pragma once
 
+#include "export.h"
 #include <iostream>
 #include <string>
-#include "export.h"
 namespace score {
 
 /**
@@ -14,7 +14,7 @@ namespace score {
  * @param port Server Port
  * @return int exit code
  */
-int CRPC_EXPORT run_cli(std::istream &input, std::ostream &output, const std::string &ip,
+int CRPC_EXPORT run_cli(std::istream &input, std::ostream &output,
-            int port);
+                        const std::string &ip, int port);
 
-} // namespace cloud_point_rpc
+} // namespace score

include/cloud_point_rpc/config.hpp

@@ -69,4 +69,4 @@ class ConfigLoader {
     }
 };
 
-} // namespace cloud_point_rpc
+} // namespace score

include/cloud_point_rpc/rpc_client.hpp

@@ -36,4 +36,4 @@ class RpcClient : public jsonrpccxx::JsonRpcClient {
     int id{0};
 };
 
-} // namespace cloud_point_rpc
+} // namespace score

include/cloud_point_rpc/rpc_server.hpp

@@ -1,15 +1,15 @@
 #pragma once
 
+#include "export.h"
 #include <functional>
 #include <jsonrpccxx/server.hpp>
 #include <map>
 #include <nlohmann/json.hpp>
 #include <string>
-#include "export.h"
 extern "C" {
 
 struct rpc_string {
-    rpc_string(const char* data, uint64_t size) : s(data,size) {}
+    rpc_string(const char *data, uint64_t size) : s(data, size) {}
     rpc_string() = default;
 
     std::string s;
@@ -20,8 +20,8 @@ namespace score {
 
 class CRPC_EXPORT RpcServer {
   public:
-    using Handler = std::function<nlohmann::json(const nlohmann::json &)>;
+    using Handler    = std::function<nlohmann::json(const nlohmann::json &)>;
-    using callback_t = rpc_string*(*)(rpc_string*);
+    using callback_t = rpc_string *(*)(rpc_string *);
 
     void register_method(const std::string &name, Handler handler);
     void register_method(const std::string &name, callback_t handler);
@@ -32,4 +32,4 @@ class CRPC_EXPORT RpcServer {
     std::map<std::string, Handler> handlers_;
 };
 
-} // namespace cloud_point_rpc
+} // namespace score

include/cloud_point_rpc/serialize.hpp

@@ -34,4 +34,4 @@ template <NumericType T> T deserialize(const std::vector<uint8_t> &buffer) {
     return *reinterpret_cast<const T *>(buffer.data());
 }
 
-} // namespace cloud_point_rpc
+} // namespace score

include/cloud_point_rpc/service.hpp

@@ -1,8 +1,8 @@
 #pragma once
 
 #include "cloud_point_rpc/config.hpp"
-#include <vector>
 #include "export.h"
+#include <vector>
 namespace score {
 
 class CRPC_EXPORT Service {
@@ -17,4 +17,4 @@ class CRPC_EXPORT Service {
     TestData data_;
 };
 
-} // namespace cloud_point_rpc
+} // namespace score

include/cloud_point_rpc/tcp_connector.hpp

@@ -1,11 +1,11 @@
 #pragma once
 #include "cloud_point_rpc/serialize.hpp"
+#include "export.h"
 #include "jsonrpccxx/iclientconnector.hpp"
 #include <asio.hpp>
 #include <cloud_point_rpc/tcp_read.hpp>
 #include <glog/logging.h>
 #include <string>
-#include "export.h"
 namespace score {
 /**
  * TCPConnector main purpose is to implement jsonrpccxx::IClientConnector Send
@@ -43,4 +43,4 @@ class CRPC_EXPORT TCPConnector : public jsonrpccxx::IClientConnector {
     asio::ip::tcp::socket socket_;
 };
 
-} // namespace cloud_point_rpc
+} // namespace score

include/cloud_point_rpc/tcp_read.hpp

@@ -40,4 +40,4 @@ static inline std::string tcp_read(asio::ip::tcp::socket &socket,
     return result;
 }
 
-} // namespace cloud_point_rpc
+} // namespace score

include/cloud_point_rpc/tcp_server.hpp

@@ -1,15 +1,15 @@
 #pragma once
 
+#include "export.h"
 #include <asio.hpp>
 #include <atomic>
 #include <cloud_point_rpc/tcp_read.hpp>
 #include <functional>
 #include <glog/logging.h>
-#include <string>
-#include <thread>
-#include "export.h"
 #include <list>
 #include <ranges>
+#include <string>
+#include <thread>
 namespace score {
 
 class CRPC_EXPORT TcpServer {
@@ -43,14 +43,17 @@ class CRPC_EXPORT TcpServer {
             accept_thread_ = std::jthread([this]() {
                 LOG(INFO) << "Accept thread started";
                 while (running_) {
-                    std::ranges::remove_if(client_threads.begin(), client_threads.end(), [](auto& client_info) {
+                    std::ranges::remove_if(
-                        bool result = false;
+                        client_threads.begin(), client_threads.end(),
-                        if (client_info.second.wait_for(0ms) == std::future_status::ready) {
+                        [](auto &client_info) {
-                            client_info.first.join();
+                            bool result = false;
-                            result = true;
+                            if (client_info.second.wait_for(0ms) ==
-                        }
+                                std::future_status::ready) {
-                        return result;
+                                client_info.first.join();
-                    });
+                                result = true;
+                            }
+                            return result;
+                        });
                     try {
                         auto socket = std::make_shared<asio::ip::tcp::socket>(
                             io_context_);
@@ -60,10 +63,12 @@ class CRPC_EXPORT TcpServer {
                             << "New connection from "
                             << socket->remote_endpoint().address().to_string();
                         auto done = std::make_shared<std::promise<bool>>();
-                        client_threads.push_back(std::make_pair(std::jthread([this, socket, done]() {
+                        client_threads.push_back(
-                            handle_client(socket);
+                            std::make_pair(std::jthread([this, socket, done]() {
-                            done->set_value(true);
+                                               handle_client(socket);
-                        }),done->get_future()));
+                                               done->set_value(true);
+                                           }),
+                                           done->get_future()));
                     } catch (const std::system_error &e) {
                         LOG(INFO) << "Accept exception: " << e.what();
                         if (running_) {
@@ -144,4 +149,4 @@ class CRPC_EXPORT TcpServer {
     std::jthread accept_thread_;
 };
 
-} // namespace cloud_point_rpc
+} // namespace score

src/cli.cpp

@@ -86,4 +86,4 @@ int run_cli(std::istream &input, std::ostream &output, const std::string &ip,
     return 0;
 }
 
-} // namespace cloud_point_rpc
+} // namespace score

src/rpc_server.cpp

@@ -21,11 +21,11 @@ void RpcServer::register_method(const std::string &name, Handler handler) {
     handlers_[name] = std::move(handler);
 }
 
-void RpcServer::register_method(const std::string& name, callback_t handler) {
+void RpcServer::register_method(const std::string &name, callback_t handler) {
-    handlers_[name] = [handler](const nlohmann::json& j) -> nlohmann::json {
+    handlers_[name] = [handler](const nlohmann::json &j) -> nlohmann::json {
         rpc_string tmp;
-        tmp.s = j.dump();
+        tmp.s           = j.dump();
-        rpc_string* res = handler(&tmp);
+        rpc_string *res = handler(&tmp);
         return {res->s};
     };
 }
@@ -66,4 +66,4 @@ std::string RpcServer::process(const std::string &request_str) {
     }
 }
 
-} // namespace cloud_point_rpc
+} // namespace score

src/service.cpp

@@ -27,4 +27,4 @@ std::vector<std::vector<double>> Service::get_cloud_point() const {
     return data_.cloud_point;
 }
 
-} // namespace cloud_point_rpc
+} // namespace score