- 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
- Remove unused stdexec dependency
- Fix dangling cv::Mat references and swapped dimensions in image/matrix factories
- Add CameraCalib, StereoCalibrationRPC, ImagePairRPC DTOs with nlohmann serialization
- Implement get-stereo-calibration and get-image-pair RPC handlers with deterministic mock data
- Extend RpcClient with typed getters and params-bearing call overload
- Restructure API.md with full JSON schemas and conventions
- 13 unit and integration tests for serialization
TG-3 #in-progress
TG-7 #ready-for-test
:Release Notes:
removed unnecessary code duplication for TCP socket read in tcp_server
and tcp_connector. Changed several log lines to appear only in debug
build
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
