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
64 lines
2.3 KiB
C++
64 lines
2.3 KiB
C++
#include <cstdio>
|
|
#include <fstream>
|
|
#include <gtest/gtest.h>
|
|
#include <string>
|
|
|
|
#include "cloud_point_rpc/config.hpp"
|
|
|
|
namespace {
|
|
|
|
struct TempConfig {
|
|
std::string path;
|
|
explicit TempConfig(const std::string &yaml)
|
|
: path("test_config_" +
|
|
std::to_string(reinterpret_cast<uintptr_t>(this)) + ".yaml") {
|
|
std::ofstream(path) << yaml;
|
|
}
|
|
~TempConfig() { std::remove(path.c_str()); }
|
|
};
|
|
|
|
} // namespace
|
|
|
|
TEST(ConfigLoaderTest, CloudPointSectionDefaultsWhenAbsent) {
|
|
TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n");
|
|
const auto c = score::ConfigLoader::load(cfg.path);
|
|
EXPECT_EQ(c.cloud_point.algorithm, "gpu");
|
|
EXPECT_EQ(c.cloud_point.num_disparities, 128);
|
|
EXPECT_DOUBLE_EQ(c.cloud_point.min_depth_m, 0.01);
|
|
EXPECT_DOUBLE_EQ(c.cloud_point.max_depth_m, 10.0);
|
|
}
|
|
|
|
TEST(ConfigLoaderTest, CloudPointSectionIsParsed) {
|
|
TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
|
|
"cloud_point:\n algorithm: cpu\n num_disparities: 160\n"
|
|
" min_depth_m: 0.02\n max_depth_m: 0.3\n");
|
|
const auto c = score::ConfigLoader::load(cfg.path);
|
|
EXPECT_EQ(c.cloud_point.algorithm, "cpu");
|
|
EXPECT_EQ(c.cloud_point.num_disparities, 160);
|
|
EXPECT_DOUBLE_EQ(c.cloud_point.min_depth_m, 0.02);
|
|
EXPECT_DOUBLE_EQ(c.cloud_point.max_depth_m, 0.3);
|
|
}
|
|
|
|
TEST(ConfigLoaderTest, CloudPointPartialSectionKeepsDefaults) {
|
|
TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
|
|
"cloud_point:\n max_depth_m: 0.5\n");
|
|
const auto c = score::ConfigLoader::load(cfg.path);
|
|
EXPECT_EQ(c.cloud_point.algorithm, "gpu");
|
|
EXPECT_EQ(c.cloud_point.num_disparities, 128);
|
|
EXPECT_DOUBLE_EQ(c.cloud_point.max_depth_m, 0.5);
|
|
}
|
|
|
|
TEST(ConfigLoaderTest, CloudPointRejectsBadAlgorithm) {
|
|
TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
|
|
"cloud_point:\n algorithm: fpga\n");
|
|
EXPECT_THROW(std::ignore = score::ConfigLoader::load(cfg.path),
|
|
std::runtime_error);
|
|
}
|
|
|
|
TEST(ConfigLoaderTest, CloudPointRejectsInvertedDepthRange) {
|
|
TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
|
|
"cloud_point:\n min_depth_m: 1.0\n max_depth_m: 0.5\n");
|
|
EXPECT_THROW(std::ignore = score::ConfigLoader::load(cfg.path),
|
|
std::runtime_error);
|
|
}
|