gitrusprusandCursor
4f253b860f
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>
39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
#include "pipeline_config.h"
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namespace core
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{
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PipelineConfig makeDesktopDebugConfig()
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{
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PipelineConfig config;
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config.preprocessPlugins = QStringList() << "keep_largest_cluster" << "downsample_dense";
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config.reconstructionPlugin = "surface_fallback";
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config.runtime.profile = "desktop_debug";
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config.runtime.asyncReconstruction = false;
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config.runtime.targetFps = 20;
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return config;
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}
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static PipelineConfig makePclFastConfig()
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{
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PipelineConfig config = makeDesktopDebugConfig();
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config.preprocessPlugins = QStringList() << "pcl_voxel_grid" << "pcl_statistical_outlier";
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config.reconstructionPlugin = "pcl_greedy_triangulation";
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config.preprocess.pclVoxelLeafSize = 0.05f;
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config.preprocess.pclSorMeanK = 20;
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config.reconstruction.pclGreedySearchRadius = 0.10f;
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return config;
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}
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PipelineConfig makeRpi4RuntimeConfig()
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{
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PipelineConfig config = makePclFastConfig();
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config.runtime.profile = "rpi4_runtime";
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config.runtime.asyncReconstruction = true;
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config.runtime.targetFps = 10;
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config.preprocess.maxInputPoints = 60000;
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config.preprocess.downsampleCellScale = 1.2;
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config.reconstruction.runEveryNthFrame = 3;
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return config;
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}
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} // namespace core
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