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>
This commit is contained in:
Cursor
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#include "pipeline_cli_runner.h"
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#include <QCommandLineOption>
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#include <QCommandLineParser>
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#include <QCoreApplication>
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#include <QFile>
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#include <QFileInfo>
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#include <QJsonArray>
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#include <QJsonDocument>
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#include <QJsonObject>
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#include <QTextStream>
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#include "../adapters/sources/file_point_cloud_source.h"
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#include "../core/pipeline_config.h"
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#include "../core/pipeline_config_validation.h"
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#include "../core/pipeline_executor.h"
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#include "../core/pipeline_stage_defaults.h"
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#include "../core/tuning_service.h"
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#include "../factories/pipeline/desktop_pipeline_factory.h"
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namespace
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{
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core::PipelineConfig configForProfile(const QString &profile)
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{
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if (profile == "rpi4_runtime") {
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return core::makeRpi4RuntimeConfig();
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}
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return core::makeDesktopDebugConfig();
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}
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bool applyStageDefaultsMap(
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const QJsonObject &defaultsObj,
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core::PipelineConfig &config,
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QString &errorText)
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{
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for (auto it = defaultsObj.constBegin(); it != defaultsObj.constEnd(); ++it) {
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const QString stageId = it.key().trimmed();
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const QString defaultsText = it.value().toString().trimmed();
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if (stageId.isEmpty()) {
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errorText = "Empty stage id in stageDefaults map.";
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return false;
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}
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if (!core::applyStageDefaultsToConfig(stageId, defaultsText, config, errorText)) {
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errorText = QString("Invalid defaults for stage '%1': %2").arg(stageId, errorText);
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return false;
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}
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}
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return true;
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}
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bool loadConfigFromJsonFile(
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const QString &path,
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core::PipelineConfig &config,
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QString &errorText)
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{
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QFile file(path);
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if (!file.open(QIODevice::ReadOnly)) {
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errorText = QString("Cannot open config JSON: %1").arg(path);
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return false;
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}
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QJsonParseError parseError;
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const QJsonDocument doc = QJsonDocument::fromJson(file.readAll(), &parseError);
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if (parseError.error != QJsonParseError::NoError || !doc.isObject()) {
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errorText = QString("Invalid config JSON: %1").arg(parseError.errorString());
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return false;
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}
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const QJsonObject root = doc.object();
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if (root.contains("profile")) {
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config = configForProfile(root.value("profile").toString().trimmed());
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}
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if (root.contains("preprocessPlugins")) {
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config.preprocessPlugins.clear();
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const QJsonArray arr = root.value("preprocessPlugins").toArray();
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for (const QJsonValue &v : arr) {
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const QString id = v.toString().trimmed();
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if (!id.isEmpty()) {
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config.preprocessPlugins.push_back(id);
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}
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}
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}
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if (root.contains("reconstructionPlugin")) {
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config.reconstructionPlugin = root.value("reconstructionPlugin").toString().trimmed();
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}
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if (root.contains("stageDefaults")) {
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if (!root.value("stageDefaults").isObject()) {
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errorText = "Field 'stageDefaults' must be an object: {\"stageId\":\"k=v,...\"}.";
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return false;
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}
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QString defaultsError;
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if (!applyStageDefaultsMap(root.value("stageDefaults").toObject(), config, defaultsError)) {
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errorText = defaultsError;
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return false;
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}
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}
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return true;
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}
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void appendGeometryToJson(const core::PipelineResult &result, QJsonObject &root)
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{
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QJsonArray pointsArray;
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for (const core::Point3f &point : result.frame.points) {
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QJsonArray xyz;
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xyz.push_back(static_cast<double>(point.x));
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xyz.push_back(static_cast<double>(point.y));
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xyz.push_back(static_cast<double>(point.z));
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pointsArray.push_back(xyz);
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}
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root["points"] = pointsArray;
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QJsonArray trianglesArray;
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for (const core::Triangle &triangle : result.triangles) {
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QJsonArray indices;
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indices.push_back(triangle.i0);
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indices.push_back(triangle.i1);
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indices.push_back(triangle.i2);
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trianglesArray.push_back(indices);
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}
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root["triangleIndices"] = trianglesArray;
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}
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void appendRunStatsToJson(const core::PipelineResult &result, QJsonObject &root)
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{
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QJsonArray stepMetrics;
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for (const core::PipelineStats::PreprocessStepMetric &metric : result.stats.preprocessStepMetrics) {
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QJsonObject row;
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row["stageId"] = metric.stageId;
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row["inputPoints"] = metric.inputPoints;
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row["outputPoints"] = metric.outputPoints;
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row["removedPoints"] = metric.removedPoints;
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row["elapsedMs"] = static_cast<qint64>(metric.elapsedMs);
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stepMetrics.push_back(row);
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}
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root["preprocessStepMetrics"] = stepMetrics;
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root["clusters"] = result.stats.detectedClusters;
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root["removedPoints"] = result.stats.removedClusterPoints + result.stats.removedDownsamplePoints;
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}
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struct AutotuneCliConfig
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{
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QString baseConfigJsonPath;
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core::AutotuneSearchSpace searchSpace;
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core::HoleAwareScoreWeights weights;
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core::AutotuneLimits limits;
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QString outputPathFromConfig;
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};
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bool parseFloatArray(const QJsonValue &value, QVector<float> &out, QString &errorText, const QString &fieldName)
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{
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if (!value.isArray()) {
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errorText = QString("Field '%1' must be an array of numbers.").arg(fieldName);
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return false;
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}
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const QJsonArray arr = value.toArray();
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out.clear();
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for (const QJsonValue &v : arr) {
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if (!v.isDouble()) {
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errorText = QString("Field '%1' must contain only numbers.").arg(fieldName);
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return false;
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}
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out.push_back(static_cast<float>(v.toDouble()));
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}
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return true;
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}
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bool loadAutotuneConfigFromJson(
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const QString &path,
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AutotuneCliConfig &cfg,
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QString &errorText)
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{
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QFile file(path);
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if (!file.open(QIODevice::ReadOnly)) {
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errorText = QString("Cannot open autotune JSON: %1").arg(path);
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return false;
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}
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QJsonParseError parseError;
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const QJsonDocument doc = QJsonDocument::fromJson(file.readAll(), &parseError);
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if (parseError.error != QJsonParseError::NoError || !doc.isObject()) {
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errorText = QString("Invalid autotune JSON: %1").arg(parseError.errorString());
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return false;
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}
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const QJsonObject root = doc.object();
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cfg = AutotuneCliConfig();
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cfg.limits.topK = 5;
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if (root.contains("baseConfigJson")) {
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cfg.baseConfigJsonPath = root.value("baseConfigJson").toString().trimmed();
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}
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if (root.contains("searchSpace")) {
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if (!root.value("searchSpace").isObject()) {
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errorText = "Field 'searchSpace' must be an object.";
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return false;
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}
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const QJsonObject searchObj = root.value("searchSpace").toObject();
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if (searchObj.contains("pclVoxelLeafSize")
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&& !parseFloatArray(
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searchObj.value("pclVoxelLeafSize"),
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cfg.searchSpace.pclVoxelLeafSizes,
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errorText,
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"searchSpace.pclVoxelLeafSize")) {
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return false;
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}
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if (searchObj.contains("pclGreedySearchRadius")
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&& !parseFloatArray(
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searchObj.value("pclGreedySearchRadius"),
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cfg.searchSpace.pclGreedySearchRadii,
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errorText,
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"searchSpace.pclGreedySearchRadius")) {
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return false;
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}
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if (searchObj.contains("neighborRadiusScale")
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&& !parseFloatArray(
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searchObj.value("neighborRadiusScale"),
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cfg.searchSpace.neighborRadiusScales,
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errorText,
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"searchSpace.neighborRadiusScale")) {
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return false;
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}
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}
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if (root.contains("objective")) {
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if (!root.value("objective").isObject()) {
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errorText = "Field 'objective' must be an object.";
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return false;
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}
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const QJsonObject objective = root.value("objective").toObject();
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if (objective.contains("connectivityWeight")) {
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cfg.weights.connectivityWeight = objective.value("connectivityWeight").toDouble(cfg.weights.connectivityWeight);
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}
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if (objective.contains("coverageWeight")) {
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cfg.weights.coverageWeight = objective.value("coverageWeight").toDouble(cfg.weights.coverageWeight);
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}
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if (objective.contains("speedPenaltyWeight")) {
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cfg.weights.speedPenaltyWeight = objective.value("speedPenaltyWeight").toDouble(cfg.weights.speedPenaltyWeight);
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}
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}
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if (root.contains("limits")) {
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if (!root.value("limits").isObject()) {
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errorText = "Field 'limits' must be an object.";
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return false;
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}
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const QJsonObject limitsObj = root.value("limits").toObject();
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if (limitsObj.contains("maxCandidates")) {
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cfg.limits.maxCandidates = limitsObj.value("maxCandidates").toInt(cfg.limits.maxCandidates);
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}
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if (limitsObj.contains("topK")) {
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cfg.limits.topK = limitsObj.value("topK").toInt(cfg.limits.topK);
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}
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}
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if (root.contains("output")) {
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if (!root.value("output").isObject()) {
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errorText = "Field 'output' must be an object.";
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return false;
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}
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const QJsonObject outputObj = root.value("output").toObject();
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cfg.outputPathFromConfig = outputObj.value("resultJsonPath").toString().trimmed();
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}
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return true;
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}
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QString defaultsForStageInPreset(const QString &stageId, const core::PipelineConfig &config)
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{
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if (stageId == "pcl_voxel_grid") {
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return QString("leaf=%1").arg(config.preprocess.pclVoxelLeafSize);
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}
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if (stageId == "pcl_greedy_triangulation") {
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return QString("searchRadius=%1,mu=%2,maxNearest=%3,maxSurfaceAngle=%4")
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.arg(config.reconstruction.pclGreedySearchRadius)
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.arg(config.reconstruction.pclGreedyMu)
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.arg(config.reconstruction.pclGreedyMaxNearest)
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.arg(config.reconstruction.pclGreedyMaxSurfaceAngle);
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}
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if (stageId == "surface_fallback") {
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return QString("neighborRadiusScale=%1,runEveryNthFrame=%2")
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.arg(config.reconstruction.neighborRadiusScale)
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.arg(config.reconstruction.runEveryNthFrame);
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}
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if (stageId == "pcl_statistical_outlier") {
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return QString("meanK=%1,stddev=%2")
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.arg(config.preprocess.pclSorMeanK)
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.arg(config.preprocess.pclSorStdDevMul);
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}
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if (stageId == "pcl_radius_outlier") {
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return QString("radius=%1,minNeighbors=%2")
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.arg(config.preprocess.pclRorRadius)
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.arg(config.preprocess.pclRorMinNeighbors);
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}
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return QString();
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}
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QJsonObject makePresetFromConfig(const core::PipelineConfig &config, const QString &title)
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{
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QJsonArray stages;
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for (const QString &stageId : config.preprocessPlugins) {
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QJsonObject stage;
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stage["id"] = stageId;
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stage["enabled"] = true;
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stage["family"] = "preprocess";
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const QString defaults = defaultsForStageInPreset(stageId, config);
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if (!defaults.isEmpty()) {
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stage["defaults"] = defaults;
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}
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stages.push_back(stage);
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}
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QJsonObject reconstruction;
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reconstruction["id"] = config.reconstructionPlugin;
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reconstruction["enabled"] = true;
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reconstruction["family"] = "reconstruction";
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const QString reconstructionDefaults = defaultsForStageInPreset(config.reconstructionPlugin, config);
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if (!reconstructionDefaults.isEmpty()) {
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reconstruction["defaults"] = reconstructionDefaults;
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}
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stages.push_back(reconstruction);
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QJsonObject preset;
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preset["title"] = title;
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preset["idValue"] = "user:autotune_best";
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preset["stages"] = stages;
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return preset;
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}
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} // namespace
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int runCliPipeline(int argc, char *argv[])
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{
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QCoreApplication app(argc, argv);
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app.setApplicationName("DotsToSurface");
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QCommandLineParser parser;
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parser.setApplicationDescription("DotsToSurface CLI pipeline runner");
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parser.addHelpOption();
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parser.addOption(QCommandLineOption("cli", "Run in CLI mode."));
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parser.addOption(QCommandLineOption(QStringList() << "i" << "input", "Input point cloud file path.", "path"));
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parser.addOption(QCommandLineOption("config-json", "Path to pipeline JSON config file.", "path"));
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parser.addOption(QCommandLineOption("autotune-config", "Path to autotune JSON config file.", "path"));
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parser.addOption(QCommandLineOption("profile", "Pipeline profile: desktop_debug or rpi4_runtime.", "name", "desktop_debug"));
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parser.addOption(QCommandLineOption("preprocess", "Comma-separated preprocess plugin ids.", "ids"));
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parser.addOption(QCommandLineOption("reconstruction", "Reconstruction plugin id.", "id"));
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parser.addOption(QCommandLineOption(
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"stage-default",
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"Stage parameter override as stageId:key=value,key2=value2. Can be repeated.",
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"spec"));
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parser.addOption(QCommandLineOption("output-json", "Write run summary JSON to this file.", "path"));
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parser.process(app);
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QTextStream out(stdout);
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QTextStream err(stderr);
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const QString inputPath = parser.value("input").trimmed();
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if (inputPath.isEmpty()) {
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err << "--input is required in --cli mode.\n";
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return 2;
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}
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core::PipelineConfig config = configForProfile(parser.value("profile").trimmed());
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const QString configJsonPath = parser.value("config-json").trimmed();
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if (!configJsonPath.isEmpty()) {
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QString jsonError;
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if (!loadConfigFromJsonFile(configJsonPath, config, jsonError)) {
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err << jsonError << "\n";
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return 2;
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}
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}
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const QString autotuneConfigPath = parser.value("autotune-config").trimmed();
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if (!autotuneConfigPath.isEmpty()) {
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AutotuneCliConfig autotuneCfg;
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QString autotuneError;
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if (!loadAutotuneConfigFromJson(autotuneConfigPath, autotuneCfg, autotuneError)) {
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err << autotuneError << "\n";
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return 2;
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}
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if (!autotuneCfg.baseConfigJsonPath.isEmpty()) {
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QString baseError;
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if (!loadConfigFromJsonFile(autotuneCfg.baseConfigJsonPath, config, baseError)) {
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err << baseError << "\n";
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return 2;
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}
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}
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QString configError;
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if (!core::normalizeAndValidatePipelineConfig(config, configError)) {
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err << "Invalid base config: " << configError << "\n";
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return 2;
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}
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adapters::sources::FilePointCloudSource source(inputPath);
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core::PointCloudFrame frame;
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QString ioError;
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if (!source.nextFrame(frame, ioError)) {
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err << "Failed to read input point cloud: " << ioError << "\n";
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return 2;
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}
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const core::AutotuneResult tuneResult = core::runGridAutotune(
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frame,
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config,
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autotuneCfg.searchSpace,
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autotuneCfg.weights,
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autotuneCfg.limits);
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if (!tuneResult.ok) {
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err << "Autotune failed: " << tuneResult.errorText << "\n";
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return 2;
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}
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out << "Autotune candidates evaluated: " << tuneResult.evaluatedCandidates << "\n";
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out << "Best score: " << tuneResult.best.score << "\n";
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out << "Best pipeline: PP=[" << tuneResult.best.config.preprocessPlugins.join("->")
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<< "] REC=" << tuneResult.best.config.reconstructionPlugin << "\n";
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out << "Best params: leaf=" << tuneResult.best.config.preprocess.pclVoxelLeafSize
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<< " greedyRadius=" << tuneResult.best.config.reconstruction.pclGreedySearchRadius
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<< " neighborRadiusScale=" << tuneResult.best.config.reconstruction.neighborRadiusScale << "\n";
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QString outputJsonPath = parser.value("output-json").trimmed();
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if (outputJsonPath.isEmpty()) {
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outputJsonPath = autotuneCfg.outputPathFromConfig;
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}
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if (!outputJsonPath.isEmpty()) {
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QJsonObject bestObj;
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bestObj["score"] = tuneResult.best.score;
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bestObj["pclVoxelLeafSize"] = tuneResult.best.config.preprocess.pclVoxelLeafSize;
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bestObj["pclGreedySearchRadius"] = tuneResult.best.config.reconstruction.pclGreedySearchRadius;
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bestObj["neighborRadiusScale"] = tuneResult.best.config.reconstruction.neighborRadiusScale;
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bestObj["inputPoints"] = tuneResult.best.inputPoints;
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bestObj["afterPreprocess"] = tuneResult.best.afterPreprocessPoints;
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bestObj["triangles"] = tuneResult.best.outputTriangles;
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bestObj["reconstructionMs"] = static_cast<qint64>(tuneResult.best.reconstructionMs);
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QJsonArray topArray;
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for (const core::AutotuneCandidateResult &candidate : tuneResult.topCandidates) {
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QJsonObject c;
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c["score"] = candidate.score;
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c["pclVoxelLeafSize"] = candidate.config.preprocess.pclVoxelLeafSize;
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c["pclGreedySearchRadius"] = candidate.config.reconstruction.pclGreedySearchRadius;
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c["neighborRadiusScale"] = candidate.config.reconstruction.neighborRadiusScale;
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c["triangles"] = candidate.outputTriangles;
|
||||
c["afterPreprocess"] = candidate.afterPreprocessPoints;
|
||||
c["reconstructionMs"] = static_cast<qint64>(candidate.reconstructionMs);
|
||||
topArray.push_back(c);
|
||||
}
|
||||
|
||||
const QJsonObject bestPreset = makePresetFromConfig(tuneResult.best.config, "AutoTune Best");
|
||||
QJsonObject root;
|
||||
root["title"] = bestPreset.value("title");
|
||||
root["idValue"] = bestPreset.value("idValue");
|
||||
root["stages"] = bestPreset.value("stages");
|
||||
root["evaluatedCandidates"] = tuneResult.evaluatedCandidates;
|
||||
root["best"] = bestObj;
|
||||
root["topK"] = topArray;
|
||||
root["bestPreset"] = bestPreset;
|
||||
|
||||
QFile file(outputJsonPath);
|
||||
if (!file.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
|
||||
err << "Failed to open output JSON file: " << outputJsonPath << "\n";
|
||||
return 2;
|
||||
}
|
||||
file.write(QJsonDocument(root).toJson(QJsonDocument::Indented));
|
||||
|
||||
const QFileInfo info(outputJsonPath);
|
||||
const QString presetPath = info.path() + "/" + info.completeBaseName() + "_best_preset.json";
|
||||
QFile presetFile(presetPath);
|
||||
if (presetFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
|
||||
presetFile.write(QJsonDocument(bestPreset).toJson(QJsonDocument::Indented));
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
const QString preprocessRaw = parser.value("preprocess").trimmed();
|
||||
if (!preprocessRaw.isEmpty()) {
|
||||
config.preprocessPlugins = preprocessRaw.split(',', Qt::SkipEmptyParts);
|
||||
for (int i = 0; i < config.preprocessPlugins.size(); ++i) {
|
||||
config.preprocessPlugins[i] = config.preprocessPlugins[i].trimmed();
|
||||
}
|
||||
}
|
||||
|
||||
const QString reconstruction = parser.value("reconstruction").trimmed();
|
||||
if (!reconstruction.isEmpty()) {
|
||||
config.reconstructionPlugin = reconstruction;
|
||||
}
|
||||
|
||||
const QStringList defaultsSpecs = parser.values("stage-default");
|
||||
for (const QString &specRaw : defaultsSpecs) {
|
||||
const QString spec = specRaw.trimmed();
|
||||
const int colonPos = spec.indexOf(':');
|
||||
if (colonPos <= 0 || colonPos >= spec.size() - 1) {
|
||||
err << "Invalid --stage-default format, expected stageId:key=value,... got: " << spec << "\n";
|
||||
return 2;
|
||||
}
|
||||
const QString stageId = spec.left(colonPos).trimmed();
|
||||
const QString defaultsText = spec.mid(colonPos + 1).trimmed();
|
||||
QString errorText;
|
||||
if (!core::applyStageDefaultsToConfig(stageId, defaultsText, config, errorText)) {
|
||||
err << "Invalid defaults for stage '" << stageId << "': " << errorText << "\n";
|
||||
return 2;
|
||||
}
|
||||
}
|
||||
|
||||
QString configError;
|
||||
if (!core::normalizeAndValidatePipelineConfig(config, configError)) {
|
||||
err << "Invalid pipeline config: " << configError << "\n";
|
||||
return 2;
|
||||
}
|
||||
|
||||
adapters::sources::FilePointCloudSource source(inputPath);
|
||||
core::PointCloudFrame frame;
|
||||
QString ioError;
|
||||
if (!source.nextFrame(frame, ioError)) {
|
||||
err << "Failed to read input point cloud: " << ioError << "\n";
|
||||
return 2;
|
||||
}
|
||||
|
||||
core::PipelineExecutor executor = factories::pipeline::createDesktopPipelineExecutor(config);
|
||||
const core::PipelineResult result = executor.run(frame);
|
||||
|
||||
out << "Input points: " << result.stats.inputPoints << "\n";
|
||||
out << "After preprocess: " << result.stats.afterPreprocessingPoints << "\n";
|
||||
out << "Triangles: " << result.stats.outputTriangles << "\n";
|
||||
out << "Reconstruction ms: " << result.stats.reconstructionMs << "\n";
|
||||
out << "Pipeline: PP=[" << config.preprocessPlugins.join("->") << "] REC=" << config.reconstructionPlugin << "\n";
|
||||
|
||||
const QString outputJsonPath = parser.value("output-json").trimmed();
|
||||
if (!outputJsonPath.isEmpty()) {
|
||||
QJsonObject root;
|
||||
root["inputPoints"] = result.stats.inputPoints;
|
||||
root["afterPreprocess"] = result.stats.afterPreprocessingPoints;
|
||||
root["triangles"] = result.stats.outputTriangles;
|
||||
root["reconstructionMs"] = static_cast<qint64>(result.stats.reconstructionMs);
|
||||
root["reconstruction"] = config.reconstructionPlugin;
|
||||
root["preprocessChain"] = config.preprocessPlugins.join(",");
|
||||
appendGeometryToJson(result, root);
|
||||
appendRunStatsToJson(result, root);
|
||||
|
||||
QFile file(outputJsonPath);
|
||||
if (!file.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
|
||||
err << "Failed to open output JSON file: " << outputJsonPath << "\n";
|
||||
return 2;
|
||||
}
|
||||
file.write(QJsonDocument(root).toJson(QJsonDocument::Indented));
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user