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18 Commits

Author SHA1 Message Date
Artur Mukhamadiev
2016b14f91 build(docker): turn image into a dev environment with mounted sources
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2026-09-14 11:51:29 +03:00
Artur Mukhamadiev
1740f9d6fc docs(readme): document stereo pipeline stages, results table and roadmap 2026-09-14 11:41:08 +03:00
Artur Mukhamadiev
14ae0a901f feat(benchmark): summarize SCARED reconstruction depth
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- report valid coverage and depth percentiles even when XYZ ground truth is absent

- accept depth bounds and optional color-mapped PNG output for visual inspection

- retain accuracy metrics when point_cloud.obj is available

- add a batch helper that renders Markdown tables and optional JSON and PNG artifacts

- document benchmark inputs, dataset limits, and visualization tradeoffs
 2026-09-14 10:43:29 +03:00
Artur Mukhamadiev
4f21e2ea38 fix(cloud_point): regularise SGBM and export viewable PLY meshes 
- Configure StereoSGBM with P1/P2 penalties, 5x5 block, uniqueness ratio,
  speckle filter and left-right check; previously it ran unregularised and
  produced a heavy tail of low-disparity outliers reprojecting metres away
  (SCARED benchmark MAE3D 44 mm -> 0.8 mm, RMSE 289 mm -> 1.4 mm)
- Pass the requested disparity count to the CUDA SGM matcher (rounded to
  64/128/256) instead of a hard-coded 16
- Add optional `cloud_point` config section (algorithm, num_disparities,
  depth range) consumed by CLI options 4/5; ship config.scared.yml
- write_ply now emits a binary PLY with a grid-triangulated mesh so web
  viewers stop fabricating slivers from consecutive vertices
- Add config, matcher and PLY export tests; document in README
 2026-09-14 10:43:24 +03:00
Artur Mukhamadiev
98b64020e4 feat(cloud_point): benchmark SCARED reconstruction accuracy 
- Load pixel-aligned SCARED OBJ ground truth with unit conversion
- Rectify left-camera XYZ maps into the reconstruction coordinate frame
- Compute coverage, component errors, 3-D errors, and accuracy thresholds
- Add a JSON benchmark executable and focused evaluator/loader tests
- Document benchmark usage and disparity configuration

TG-2 #ready-for-test
 2026-08-27 15:19:18 +03:00
Artur Mukhamadiev
e139a55143 feat(cloud_point): SCARED dataset validation with real endoscopic stereo data 
- ScaredDatasetLoader: loads M1/D1/M2/D2/R/T from OpenCV YAML + Left/Right PNGs
- scared_dataset_server executable serving get-stereo-calibration and get-image-pair
- E2E test against SCARED dataset with GTEST_SKIP guard (requires SCARED_KEYFRAME_DIR)
- README SCARED dataset validation section with CLI options and mm->m conversion
- CLI disparity-range caveat documentation

TG-2 #in-progress
 2026-07-12 22:28:21 +03:00
Artur Mukhamadiev
162c210a7d feat(cloud_point): stereo rectification, point cloud pipeline, and CloudPointClient facade 
- StereoRectifier wrapping cv::stereoRectify + cv::initUndistortRectifyMap (CV_16SC2 maps)
- PointCloudBuilder with cv::reprojectImageTo3D and depth/NaN filtering
- CloudPointClient high-level facade: connect(), compute_cloud() -> std::expected<PointCloud, Error>
- write_ply() ASCII PLY export helper
- CLI options 4 (compute-cloud) and 5 (compute-cloud + save PLY)
- Fix TcpServer to loop over multiple requests per connection
- Expose num_disparities parameter through CloudPointClient and StereoMatcherFactory
- Unity C# integration design spec
- Sync README, AGENTS, openwiki with stereo pipeline (C++23)
- E2E synthetic-scene test with constant-disparity stereo pair

TG-9 #ready-for-test
TG-4 #ready-for-test
TG-2 #in-progress
 2026-07-12 22:28:21 +03:00
Artur Mukhamadiev
24b6f9937f feat(cloud_point): add OpenCV integration, stereo matching, and get-available-methods RPC 
- Add OpenCV and stdexec dependencies
- ImageRPC type bridging OpenCV and RPC layers
- Stereo rectification boilerplate
- get-available-methods RPC method with get_count/get_method_name_by_id/get_method_names
- Tests for remote method retrieval
- CPU/GPU stereo matcher interfaces with SGBM implementation
- Documentation consistency pass across impl and docs

TG-5 #ready-for-test
TG-2 #in-progress
 2026-07-12 22:28:21 +03:00
Artur Mukhamadiev
5634773eaf [fix] build file fixes for linux and newer CMake
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:Release Notes:
-

:Detailed Notes:
-

:Testing Performed:
-

:QA Notes:
-

:Issues Addressed:
-
 2026-04-13 23:25:11 +03:00
Artur Mukhamadiev
69466a1771 [docs] change docs + base64
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TG-3 #ready
 2026-03-07 21:06:21 +03:00
Artur Mukhamadiev
b28c1b8e7f [docs] added docs folder 
moved uml diagram to docs folder
changed readme communcation model to a result image view
 2026-02-20 23:51:57 +03:00
Artur Mukhamadiev
1ab01134c5 [todo] added todo section in readme 2026-02-20 23:47:53 +03:00
amukhamadiev
8ee06fe6a0 [win] compilation on windows verified 2026-02-20 20:38:01 +03:00
amukhamadiev
ece26e7b1f [jsonrpccxx] moved to external rpc impl 
Detailed:
      As base used jsonrpccxx implementation paired with TCP socket
      TCP socket updated to handle dynamic sized buffers
      TCP communication protocol changed to serialized packet size after
      which json string is presented
 2026-02-20 17:51:14 +03:00
Artur Mukhamadiev
9b482ae956 [docs] change listen to connect :D 2026-01-26 00:39:20 +03:00
Artur Mukhamadiev
dc82c29556 [docs] fixed docker description 2026-01-26 00:37:43 +03:00
Artur Mukhamadiev
dfa4b156e9 [docker] verified and corrected 2026-01-26 00:33:14 +03:00
Artur Mukhamadiev
cbe56d9193 [base] hail vibe-coding 
Minimal API functionality with unit tests,
could be used for integration tests with Unity server.
For internal testing used RPC_server implementation
 2026-01-26 00:14:19 +03:00