Artur Mukhamadiev
4f21e2ea38
- 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
12 lines
324 B
YAML
12 lines
324 B
YAML
server:
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ip: "127.0.0.1"
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port: 9095
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# Optional stereo reconstruction settings for CLI options 4/5.
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# See config.scared.yml for values tuned to the SCARED endoscopic rig.
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# cloud_point:
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# algorithm: gpu # or cpu
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# num_disparities: 128 # positive multiple of 16
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# min_depth_m: 0.01
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# max_depth_m: 10.0
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