Module post 

Post-processing: performs the Python part at the end of the script (preview alignment, per-event snapshots, manifest) and incremental_reanchor.py with the align crate. The model uses the in-memory Reconstruction as is.

Structs

LiveDisplay

Display cloud built the same way as the final output: every refined zone is placed in the frame of the newest refined model with its own Sim3 (robust fit on shared 3D points; skipped with relocate off), so zones meet without seams; the overlap of zone k with the earlier zones (voxel ownership, no empty strip at the seam) is dropped so it is not drawn twice. Fits are cached per (zone, reference) pair.

LiveOptions

Settings for LiveDisplay.

PostInput

Post-processing input (based on PLY paths and event strings).

PostZones

Post-processing with in-memory input (zone results collected from events). Shared by run and the default hook.

ZoneCloud

One zone point cloud: the output file name (same name as in full/) and the point cloud.

ZoneTimes

Per-zone event time (seconds from the first event). None if absent.

Constants

MERGED_STRIDE

Thinning of final_frame/merged.ply in stable display (1/2 of each zone’s points, then overlap dedupe).

Functions

run

Whole post-processing (input: PLY paths and event strings). The summary goes to run.log (+ standard output).

run_stable

Stable-display outputs: every refined zone exactly as shown (snapshots/event_NN_TTTT.Ts_refined_K.ply, display frame, in order of arrival) and the same clouds in ENU (final_frame/refined/). Each zone gets its own Sim3 from its refined model (models) to the GPS-aligned final model (enu), fitted on shared 3D points; with too few pairs (or no model for the zone) one global Sim3 from the display model to enu (projection centers of shared images) is used. final_frame/merged.ply is the thinned (1/MERGED_STRIDE) and overlap-deduplicated union of the ENU clouds.

run_zones

Post-processing body (in-memory input): preview alignment -> aligned/ -> per-event snapshots and manifest -> re-anchoring (final_frame/).

splitmix64

splitmix64 finalizer: the fixed integer hash behind the key-based thinning.