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
38 lines
949 B
Meson
38 lines
949 B
Meson
test_sources = files(
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'test_rpc.cpp',
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'test_integration.cpp',
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'test_tcp.cpp',
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'test_cli.cpp',
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'test_config.cpp',
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'test_c_api.cpp',
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'test_base64.cpp',
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'test_serialize_image.cpp'
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)
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test_deps = [cloud_point_rpc_dep, cloud_point_rpc_cli_dep,
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cloud_point_rpc_test_dep, json_dep, gtest_dep,
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gtest_main_dep, gmock_dep]
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if opencv_dep.found()
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message('found cloud_point_compute dependency')
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test_sources += files(
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'test_image.cpp',
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'test_stereo_matcher.cpp',
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'test_stereo_rectifier.cpp',
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'test_point_cloud_builder.cpp',
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'test_point_cloud_evaluator.cpp',
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'test_cloud_point_client.cpp',
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'test_ply_export.cpp',
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'test_scared_dataset.cpp',
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'test_scared_ground_truth_loader.cpp'
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)
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test_deps += [cloud_point_compute_dep]
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else
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message('cpc_dep was not found')
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endif
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test_exe = executable('unit_tests',
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test_sources,
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dependencies : test_deps)
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test('unit_tests', test_exe)
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