Artur Mukhamadiev
162c210a7d
- 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
83 lines
2.8 KiB
Plaintext
83 lines
2.8 KiB
Plaintext
@startuml comm
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box ClientProcess #LightBlue
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Participant Caller
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Participant CloudPointClient
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Participant StereoRectifier
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Participant PointCloudBuilder
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Participant TCPClient
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end box
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box UnityProcess #LightGreen
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Participant TCPServer
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Participant CloudPointServer
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Participant MainThreadQueue
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Participant UnityWorld
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end box
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== Initialization ==
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UnityWorld -> CloudPointServer : Awake() — crpc_init()
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activate CloudPointServer
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CloudPointServer -> TCPServer : start (await connections)
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activate TCPServer
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Caller -> CloudPointClient : connect()
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activate CloudPointClient
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CloudPointClient -> TCPClient : establish TCP connection
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TCPClient -> TCPServer : TCP handshake
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TCPServer -> TCPServer : spawn per-client handler thread (loops)
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CloudPointClient -> TCPClient : get-stereo-calibration
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TCPClient -> TCPServer : send request
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TCPServer -> CloudPointServer : dispatch
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CloudPointServer -> MainThreadQueue : enqueue task
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MainThreadQueue -> UnityWorld : Update() dequeues
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activate UnityWorld
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UnityWorld -> UnityWorld : read camera params
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UnityWorld -> MainThreadQueue : tcs.SetResult(calibration JSON)
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deactivate UnityWorld
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MainThreadQueue -> CloudPointServer : task complete
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CloudPointServer -> TCPServer : send response
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TCPServer -> TCPClient : response
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TCPClient -> CloudPointClient : calibration received
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CloudPointClient -> StereoRectifier : init(calibration)\ncv::stereoRectify + remap maps
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deactivate CloudPointClient
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== Per compute_cloud() call ==
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Caller -> CloudPointClient : compute_cloud()
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activate CloudPointClient
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CloudPointClient -> TCPClient : get-image-pair
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TCPClient -> TCPServer : send request
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TCPServer -> CloudPointServer : dispatch
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CloudPointServer -> MainThreadQueue : enqueue task
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MainThreadQueue -> UnityWorld : Update() dequeues
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activate UnityWorld
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UnityWorld -> UnityWorld : Render() both cameras\nReadPixels + vertical flip\nBase64 encode
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UnityWorld -> MainThreadQueue : tcs.SetResult(image pair JSON)
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deactivate UnityWorld
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MainThreadQueue -> CloudPointServer : task complete
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CloudPointServer -> TCPServer : send response
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TCPServer -> TCPClient : response (base64 left + right)
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TCPClient -> CloudPointClient : image pair received
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CloudPointClient -> StereoRectifier : rectify(left, right)
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StereoRectifier -> StereoRectifier : cv::remap both images
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StereoRectifier -> CloudPointClient : rectified pair
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CloudPointClient -> PointCloudBuilder : build(rectified, Q)
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PointCloudBuilder -> PointCloudBuilder : cv::StereoSGBM disparity\n(1/16 scale)\ncv::reprojectImageTo3D\nNaN filter
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PointCloudBuilder -> CloudPointClient : PointCloud
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CloudPointClient -> Caller : std::expected<PointCloud, Error>
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deactivate CloudPointClient
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== Teardown ==
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Caller -> CloudPointClient : destruct
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deactivate CloudPointClient
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UnityWorld -> CloudPointServer : OnDestroy() — crpc_deinit()
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deactivate CloudPointServer
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deactivate TCPServer
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@enduml
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