Module declare 

Declarative builder layer: record a plan first and run it all at once later.

The methods of the ReconBuilder returned by Recon::declare only record a plan (“this is what to do”) and execute nothing (they neither create nor delete files or folders, and do not open devices). ReconBuilder::build validates the plan and builds an executable reconstruction (Recon); Recon::run assembles the session reducer + pipeline + hooks + default output hook and runs the position loop, the wait for background jobs and the shutdown in one go (deferred execution).

The plan itself is a value (Plan), so it can be compared, cloned and saved as TOML (Plan::to_toml / Plan::from_toml). Hooks (closures) are kept in the builder, not in the plan.

Usage example

use cumulus3d_cli::declare::{Dense, Recon, Sinks};
use cumulus3d_cli::events::{Event, EventKind};

fn main() -> Result<(), String> {
    let recon = Recon::declare()
        .input("data")                      // data/images/<cam>/, data/gps_ref.txt
        .preset("aerial-formation")         // camF/camR/camL, formation pairing rule, stride 3
        .stride(3)
        .zones(12, 2)
        .dense(Dense::profile("fast").fusion_min_views(3))
        .sinks(Sinks::default_files("out").models(true))
        .seed(7)
        .on(EventKind::PositionDone, |e: &Event| {
            if let Some(t) = e.timeline_text() {
                println!("{t}");
            }
        })
        .on_zone_preview(|range, cloud| println!("preview {}: {} points", range.zone, cloud.len()))
        .build()                            // validation only (errors are collected and reported at once)
        .map_err(|e| e.to_string())?;
    println!("{}", recon.plan().to_toml());
    let summary = recon.run()?;              // actual execution happens here
    println!("{} events", summary.events);
    Ok(())
}

Run from a TOML plan file: cumulus3d run plan.toml. The default plan is cumulus3d plan --print-default. Relative paths in a plan file are relative to the working location (current folder).

Structs

Align

Coordinate alignment.

Dense

Densification plan. Start from Dense::profile and add to it with methods. Unset fusion/filter values use the profile defaults.

Features

Feature extraction.

Filter

Depth map filter overrides (same meaning as --filter-* and --median-filter of the densify subcommand). If unset, the profile default.

Fusion

Fusion overrides (same meaning as --fusion-* of the densify subcommand). If unset, the profile default.

Live

Live throughput: how a session keeps up with arriving positions and shows a low level first.

Matching

Descriptor matching.

Plan

Reconstruction plan (a value). It runs nothing and only holds “what to do and how”.

PlanError

Validation error of ReconBuilder::build. It holds all the problems found.

Problem

One plan validation problem.

Recon

An executable reconstruction that has passed validation. Run it with Recon::run.

ReconBuilder

Plan recorder. Methods only record and do not run anything. Validate with ReconBuilder::build.

Sinks

Output hook plan. If out is unset, no files are written (enabled file items are ignored, only hooks remain).

Source

Input images: <images>/<camera>/<camera>_NNNN.jpg.

Sparse

Sparse reconstruction.

Zones

Zones (in units of positions).

Enums

AlignFrame

Alignment coordinate frame.

Pairing

Pairing strategy.

Constants

DEFAULT_PRESET

Default preset name.

PRESETS

Known preset names.