e139a55143
feat(cloud_point): SCARED dataset validation with real endoscopic stereo data
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- 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
162c210a7d
feat(cloud_point): stereo rectification, point cloud pipeline, and CloudPointClient facade
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- 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
d486f550d2
feat(rpc): stereo calibration and image-pair wire protocol
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- 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
2026-07-12 22:28:21 +03:00
24b6f9937f
feat(cloud_point): add OpenCV integration, stereo matching, and get-available-methods RPC
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- 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
