Реструктуризация проекта и генератор синтетических датасетов эхолота.

Перенесены backend/frontend/desktop/engine, добавлены вкладки конструктора сцен и генератора датасета с параметрами лучей и длины сетки рельефа, обновлены API и Docker-сборка. Co-authored-by: Cursor <cursoragent@cursor.com>
2026-07-17 12:25:00 +03:00
parent 18a58f2e85
commit 4f253b860f
134 changed files with 5263 additions and 863 deletions
@@ -0,0 +1,104 @@
+QT += core gui widgets opengl quick quickwidgets qml
+
+CONFIG += c++14
+TEMPLATE = app
+TARGET = DotsToSurface
+
+win32:LIBS += -lopengl32
+unix:LIBS += -lGL
+
+contains(DEFINES, PCL_ENABLED) {
+    message(PCL support enabled)
+    win32 {
+        isEmpty(PCL_ROOT) {
+            PCL_ROOT = C:/PCL
+        }
+        INCLUDEPATH += $$PCL_ROOT/include $$PCL_ROOT/include/pcl-1.12
+        LIBS += -L$$PCL_ROOT/lib \
+            -lpcl_common \
+            -lpcl_io \
+            -lpcl_filters \
+            -lpcl_features \
+            -lpcl_kdtree \
+            -lpcl_search \
+            -lpcl_surface
+    }
+
+    unix {
+        CONFIG += link_pkgconfig
+        PKGCONFIG += \
+            pcl_common \
+            pcl_io \
+            pcl_filters \
+            pcl_features \
+            pcl_kdtree \
+            pcl_search \
+            pcl_surface
+    }
+}
+
+SOURCES += \
+    src/main.cpp \
+    src/engine/cli/pipeline_cli_runner.cpp \
+    src/engine/algorithms/preprocess/preprocess_algorithms.cpp \
+    src/engine/algorithms/reconstruction/surface_reconstruction.cpp \
+    src/engine/adapters/reconstruction/reconstruction_adapter.cpp \
+    src/engine/adapters/pcl/pcl_point_cloud_adapter.cpp \
+    src/engine/adapters/registration/registration_adapter.cpp \
+    src/engine/adapters/ros2/pointcloud2_adapter.cpp \
+    src/engine/adapters/ros2/tf2_adapter.cpp \
+    src/engine/adapters/sources/file_point_cloud_source.cpp \
+    src/engine/adapters/sources/ply_point_cloud_loader.cpp \
+    src/engine/adapters/sources/ros2_point_cloud_source.cpp \
+    src/engine/core/pipeline_config.cpp \
+    src/engine/core/pipeline_config_validation.cpp \
+    src/engine/core/hole_aware_score.cpp \
+    src/engine/core/pipeline_stage_defaults.cpp \
+    src/engine/core/tuning_service.cpp \
+    src/engine/core/pipeline_executor.cpp \
+    src/engine/core/pipeline_plugin_registry.cpp \
+    src/engine/factories/pipeline/desktop_pipeline_factory.cpp \
+    src/engine/strategies/registration_icp_stage.cpp \
+    src/engine/strategies/preprocess_basic_stages.cpp \
+    src/engine/strategies/preprocess_pcl_stages.cpp \
+    src/engine/strategies/transform_tf_stage.cpp \
+    src/engine/tests/pipeline_smoke_tests.cpp \
+    src/desktop/mainwindow.cpp \
+    src/desktop/glview.cpp
+
+HEADERS += \
+    src/engine/cli/pipeline_cli_runner.h \
+    src/engine/algorithms/preprocess/preprocess_algorithms.h \
+    src/engine/algorithms/reconstruction/surface_reconstruction.h \
+    src/engine/adapters/reconstruction/reconstruction_adapter.h \
+    src/engine/adapters/pcl/pcl_point_cloud_adapter.h \
+    src/engine/adapters/registration/registration_adapter.h \
+    src/engine/adapters/ros2/pointcloud2_adapter.h \
+    src/engine/adapters/ros2/tf2_adapter.h \
+    src/engine/adapters/sources/file_point_cloud_source.h \
+    src/engine/adapters/sources/ply_point_cloud_loader.h \
+    src/engine/adapters/sources/ros2_point_cloud_source.h \
+    src/engine/core/data_source.h \
+    src/engine/core/point_cloud_types.h \
+    src/engine/core/pipeline_config.h \
+    src/engine/core/pipeline_config_validation.h \
+    src/engine/core/hole_aware_score.h \
+    src/engine/core/pipeline_stage_defaults.h \
+    src/engine/core/tuning_service.h \
+    src/engine/core/pipeline_stage.h \
+    src/engine/core/pipeline_executor.h \
+    src/engine/core/pipeline_plugin_registry.h \
+    src/engine/factories/pipeline/desktop_pipeline_factory.h \
+    src/engine/strategies/preprocess_basic_stages.h \
+    src/engine/strategies/preprocess_pcl_stages.h \
+    src/engine/strategies/registration_icp_stage.h \
+    src/engine/strategies/reconstruction_pcl_greedy_stage.h \
+    src/engine/strategies/reconstruction_pcl_poisson_stage.h \
+    src/engine/strategies/reconstruction_surface_stage.h \
+    src/engine/strategies/transform_tf_stage.h \
+    src/engine/tests/pipeline_smoke_tests.h \
+    src/desktop/mainwindow.h \
+    src/desktop/glview.h
+
+RESOURCES += \
+    src/desktop/qml/ui_qml.qrc