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
412 B
YAML
12 lines
412 B
YAML
# CLI configuration for validating against a SCARED keyframe served by
|
|
# scared_dataset_server (default port 8080).
|
|
server:
|
|
ip: "127.0.0.1"
|
|
port: 8080
|
|
|
|
cloud_point:
|
|
algorithm: cpu # "gpu" falls back to CPU when CUDA is unavailable
|
|
num_disparities: 160 # fx ~1024 px, baseline ~4.35 mm -> up to ~160 px
|
|
min_depth_m: 0.02 # endoscopic working range: 20 mm .. 300 mm
|
|
max_depth_m: 0.30
|