Enum Event 

#[non_exhaustive]
pub enum Event {
    FrameIngested {
        meta: Meta,
        position: usize,
        images: Vec<String>,
    },
    FrameDecoded {
        meta: Meta,
        frame: Arc<Frame>,
    },
    Started {
        meta: Meta,
        positions: Option<usize>,
    },
    Log {
        meta: Meta,
        line: String,
        stamped: bool,
    },
    FeaturesExtracted {
        meta: Meta,
        image: String,
        count: usize,
        position: usize,
        image_id: ImageId,
    },
    PairsMatched {
        meta: Meta,
        pairs: usize,
        verified: usize,
        position: usize,
        matched: usize,
    },
    ModelInitialized {
        meta: Meta,
        registered: usize,
        position: usize,
        model: Arc<Reconstruction>,
    },
    FrameRegistered {
        meta: Meta,
        position: usize,
        image: String,
        image_id: ImageId,
        cam_from_world: Rigid3,
    },
    PositionDone {
        meta: Meta,
        position: usize,
        registered: usize,
        expected: usize,
    },
    ZoneArrived {
        meta: Meta,
        range: ZoneRange,
        model: Arc<Reconstruction>,
    },
    ZonePreview {
        meta: Meta,
        range: ZoneRange,
        cloud: Arc<PointCloud>,
        model: Arc<Reconstruction>,
        dense: bool,
        frame: String,
    },
    RefineStarted {
        meta: Meta,
        zone: usize,
    },
    ZoneAdjusted {
        meta: Meta,
        zone: usize,
        model: Arc<Reconstruction>,
    },
    ZoneRefinedPose {
        meta: Meta,
        range: ZoneRange,
        registered: usize,
        mean_reproj_px: f64,
        model: Arc<Reconstruction>,
    },
    ZoneRefined {
        meta: Meta,
        range: ZoneRange,
        cloud: Arc<PointCloud>,
        model: Arc<Reconstruction>,
        dense: bool,
    },
    BaseAdopted {
        meta: Meta,
        zone: usize,
    },
    Reanchored {
        meta: Meta,
        zone: usize,
        transform: Sim3,
    },
    Snapshot {
        meta: Meta,
        index: usize,
        cloud: Arc<PointCloud>,
    },
    AllPositionsDone {
        meta: Meta,
    },
    AllRefinedDone {
        meta: Meta,
        chain: Option<Arc<Reconstruction>>,
    },
    Finished {
        meta: Meta,
        pipeline_secs: f64,
        stage_times: Vec<(String, Duration, usize)>,
        chain_stats: Vec<String>,
    },
    Reset {
        meta: Meta,
        position: usize,
    },
    ZoneInvalidated {
        meta: Meta,
        zone: usize,
    },
    DisplayDelta {
        meta: Meta,
        delta: Arc<DisplayDelta>,
        zone: usize,
        kind: DeltaKind,
        t: f64,
        frame: DisplayFrame,
    },
    Warning {
        meta: Meta,
        message: String,
    },
    Error {
        meta: Meta,
        message: String,
    },
}

Pipeline events (per-stage results). Every variant carries a Meta.

Variants (Non-exhaustive)

Non-exhaustive enums could have additional variants added in future. Therefore, when matching against variants of non-exhaustive enums, an extra wildcard arm must be added to account for any future variants.

FrameIngested

The frame bundle of one position has arrived.

Fields

meta: Meta

Common header.

position: usize

Position index.

images: Vec<String>

Image names of this position.

FrameDecoded

Decoding of one input frame is complete. Comes first, before the position is processed (only when SessionConfig::decode_frames is on).

Fields

meta: Meta

Common header.

frame: Arc<Frame>

Decoded frame.

Started

Session start (once, at the first input). positions = total number of known positions. (added by session)

Fields

meta: Meta

Common header.

positions: Option<usize>

Total number of known positions (None if unknown).

Log

One run.log line. If stamped, it is written with a [HH:MM:SS] prefix (meta.at local time). (added by session)

Fields

meta: Meta

Common header.

line: String

Line to record.

stamped: bool

Whether to add the [HH:MM:SS] prefix.

FeaturesExtracted

Feature extraction of one image is complete.

Fields

meta: Meta

Common header.

image: String

Image name.

count: usize

Number of extracted features.

position: usize

Position index.

image_id: ImageId

Image id.

PairsMatched

Result of matching new pairs. pairs = pairs matched at this position, verified = pairs with valid geometry, matched = pairs for which descriptor matching was performed.

Fields

meta: Meta

Common header.

pairs: usize

Pairs matched at this position.

verified: usize

Pairs with valid geometry.

position: usize

Position index.

matched: usize

Pairs for which descriptor matching was performed.

ModelInitialized

The first model has been built.

Fields

meta: Meta

Common header.

registered: usize

Number of registered images.

position: usize

Position index.

model: Arc<Reconstruction>

Copy of the relevant model.

FrameRegistered

An image has been registered to the model.

Fields

meta: Meta

Common header.

position: usize

Position index.

image: String

Image name.

image_id: ImageId

Image id.

cam_from_world: Rigid3

Registered pose (world -> camera).

PositionDone

Registration and triangulation of one position are finished.

Fields

meta: Meta

Common header.

position: usize

Position index.

registered: usize

Number of registered images.

expected: usize

Number of images expected up to this position.

ZoneArrived

The last position of a zone has arrived. model = copy of the chain model at that point (before alignment).

Fields

meta: Meta

Common header.

range: ZoneRange

Zone range.

model: Arc<Reconstruction>

Copy of the relevant model.

ZonePreview

Zone preview point cloud (no BA). model = preview model (zone 0 is the GPS-aligned one), dense = false means densification was not run or failed and cloud is an empty placeholder. frame = point-cloud coordinate frame (“gps” | “refined_K” | “unaligned”).

Fields

meta: Meta

Common header.

range: ZoneRange

Zone range.

cloud: Arc<PointCloud>

Point cloud (an empty placeholder if there is no densification).

model: Arc<Reconstruction>

Copy of the relevant model.

dense: bool

Whether densification was actually performed.

frame: String

Point-cloud coordinate frame (“gps” | “refined_K” | “unaligned”).

RefineStarted

Refinement job start (background). (added by session)

Fields

meta: Meta

Common header.

zone: usize

Zone index.

ZoneAdjusted

Model right after BA of the refinement job (before GPS alignment). (added by session)

Fields

meta: Meta

Common header.

zone: usize

Zone index.

model: Arc<Reconstruction>

Copy of the relevant model.

ZoneRefinedPose

Zone refined pose finalized (BA + GPS alignment). model = refined model after BA + GPS alignment.

Fields

meta: Meta

Common header.

range: ZoneRange

Zone range.

registered: usize

Number of registered images.

mean_reproj_px: f64

Mean reprojection error (pixels).

model: Arc<Reconstruction>

Copy of the relevant model.

ZoneRefined

Zone refined point cloud. It replaces the preview of the same zone. dense = false means cloud is an empty placeholder.

Fields

meta: Meta

Common header.

range: ZoneRange

Zone range.

cloud: Arc<PointCloud>

Point cloud (an empty placeholder if there is no densification).

model: Arc<Reconstruction>

Copy of the relevant model.

dense: bool

Whether densification was actually performed.

BaseAdopted

The refined model was adopted as the reference for subsequent registration.

Fields

meta: Meta

Common header.

zone: usize

Zone index.

Reanchored

Coordinate-frame transform of an already sent zone (the point cloud is not sent again): new_from_old.

Fields

meta: Meta

Common header.

zone: usize

Zone index.

transform: Sim3

new_from_old transform.

Snapshot

Snapshot for display (event sequence number and composite point cloud).

Fields

meta: Meta

Common header.

index: usize

Event sequence number.

cloud: Arc<PointCloud>

Point cloud (an empty placeholder if there is no densification).

AllPositionsDone

All positions processed.

Fields

meta: Meta

Common header.

AllRefinedDone

All refinement jobs complete. chain = final chain model.

Fields

meta: Meta

Common header.

chain: Option<Arc<Reconstruction>>

Final chain model.

Finished

Session end summary (the last of all events). stage_times = (stage, accumulated time, count) in stage-name order, pipeline_secs = start to all refinements complete, chain_stats = statistics line of the final chain model. (added by session)

Fields

meta: Meta

Common header.

pipeline_secs: f64

Start to all refinements complete (seconds).

stage_times: Vec<(String, Duration, usize)>

(stage, accumulated time, count) in stage-name order.

chain_stats: Vec<String>

Statistics line of the final chain model.

Reset

Command::ResetFrom was handled. (added by session)

Fields

meta: Meta

Common header.

position: usize

Position index.

ZoneInvalidated

Command::InvalidateZone was handled. (added by session)

Fields

meta: Meta

Common header.

zone: usize

Zone index.

DisplayDelta

Incremental display update computed by the library (opt-in, see NodeBuilder::display_deltas and crate::live::DisplayFeed): the point-keyed difference between the previous and the new composed display cloud after a zone result. Emitted right after the event that caused it.

Fields

meta: Meta

Common header (of the causing event).

delta: Arc<DisplayDelta>

Adds, moves and removes with dense slot ids (apply: removes, adds, moves).

zone: usize

Zone whose result caused the delta.

kind: DeltaKind

Why it was emitted.

t: f64

Seconds since the session start.

frame: DisplayFrame

Coordinate frame of the display points.

Warning

Warning.

Fields

meta: Meta

Common header.

message: String

Message.

Error

Error (including hook panics).

Fields

meta: Meta

Common header.

message: String

Message.

Implementations

impl Event

pub fn kind(&self) -> EventKind

Event kind.

pub fn meta(&self) -> &Meta

Common header.

Examples found in repository

examples/hooks.rs (line 74)

fn main() -> Result<(), String> {
    let out = std::env::args().nth(1).map(PathBuf::from).unwrap_or_else(|| std::env::temp_dir().join("cumulus3d_hooks"));
    let src = out.with_extension("src");
    if !src.join("gps_ref.txt").exists() {
        common::make_dataset(&src);
    }
    if out.exists() {
        std::fs::remove_dir_all(&out).map_err(|e| e.to_string())?;
    }
    let layout = Layout::discover(&src, 1)?;
    let npos = layout.frames.len();

    let mut cfg = SessionConfig::new(src.join("images"));
    cfg.gps = read_gps_file(src.join("gps_ref.txt")).map_err(|e| e.to_string())?;
    (cfg.span, cfg.overlap, cfg.total_positions, cfg.seed) = (4, 1, Some(npos), Some(7));
    if cumulus3d_cuda::is_available() {
        let mut d = DenseConfig::new(make_pm_backend("cuda"), parse_profile("fast")?);
        d.undistort.max_image_size = 160;
        cfg.dense = Some(d);
    }

    // Hook: print event text, zone point-cloud point counts, warnings and errors; plus the default output hook (files).
    let pipeline = Pipeline::new(Session::new(cfg))
        .on_any(|e: &Event| {
            if let Some(t) = e.timeline_text() {
                println!("[event v{}] {t}", e.meta().version);
            }
        })
        .on(EventKind::ZonePreview, |e: &Event| {
            if let Event::ZonePreview { range, cloud, model, .. } = e {
                println!("  초벌 {}: 조밀 점 {} / 희소 점 {}", range.zone, cloud.len(), model.num_points3d());
            }
        })
        .on(EventKind::ZoneRefined, |e: &Event| {
            if let Event::ZoneRefined { range, cloud, model, .. } = e {
                println!("  정밀 {}: 조밀 점 {} / 희소 점 {}", range.zone, cloud.len(), model.num_points3d());
            }
        })
        .on_message(|k, m| eprintln!("  {k:?}: {m}"));
    let mut pipeline = sinks::attach(pipeline, &out, &SinkOptions::default()).map_err(|e| e.to_string())?;

    for p in 0..npos {
        pipeline.push(Input::Frames(FrameSet::new(CAMS.iter().map(|c| (*c, layout.name(c, p))))));
    }
    let (_, summary) = pipeline.finish();
    println!("이벤트 {} 개, 훅 호출 {} 번, 훅 패닉 {}", summary.events, summary.hook_calls, summary.hook_panics);

    for f in ["timeline.txt", "run.log", "snapshots/manifest.json", "snapshots/timeline.txt", "DONE"] {
        let p = out.join(f);
        println!("{} {}", if p.exists() { "있음" } else { "없음" }, p.display());
    }
    Ok(())
}

impl Event

pub fn timeline_text(&self) -> Option<String>

Event text for timeline.txt (None if there is none). The wording and format are the same as the existing record.

Examples found in repository

examples/hooks.rs (line 73)

fn main() -> Result<(), String> {
    let out = std::env::args().nth(1).map(PathBuf::from).unwrap_or_else(|| std::env::temp_dir().join("cumulus3d_hooks"));
    let src = out.with_extension("src");
    if !src.join("gps_ref.txt").exists() {
        common::make_dataset(&src);
    }
    if out.exists() {
        std::fs::remove_dir_all(&out).map_err(|e| e.to_string())?;
    }
    let layout = Layout::discover(&src, 1)?;
    let npos = layout.frames.len();

    let mut cfg = SessionConfig::new(src.join("images"));
    cfg.gps = read_gps_file(src.join("gps_ref.txt")).map_err(|e| e.to_string())?;
    (cfg.span, cfg.overlap, cfg.total_positions, cfg.seed) = (4, 1, Some(npos), Some(7));
    if cumulus3d_cuda::is_available() {
        let mut d = DenseConfig::new(make_pm_backend("cuda"), parse_profile("fast")?);
        d.undistort.max_image_size = 160;
        cfg.dense = Some(d);
    }

    // Hook: print event text, zone point-cloud point counts, warnings and errors; plus the default output hook (files).
    let pipeline = Pipeline::new(Session::new(cfg))
        .on_any(|e: &Event| {
            if let Some(t) = e.timeline_text() {
                println!("[event v{}] {t}", e.meta().version);
            }
        })
        .on(EventKind::ZonePreview, |e: &Event| {
            if let Event::ZonePreview { range, cloud, model, .. } = e {
                println!("  초벌 {}: 조밀 점 {} / 희소 점 {}", range.zone, cloud.len(), model.num_points3d());
            }
        })
        .on(EventKind::ZoneRefined, |e: &Event| {
            if let Event::ZoneRefined { range, cloud, model, .. } = e {
                println!("  정밀 {}: 조밀 점 {} / 희소 점 {}", range.zone, cloud.len(), model.num_points3d());
            }
        })
        .on_message(|k, m| eprintln!("  {k:?}: {m}"));
    let mut pipeline = sinks::attach(pipeline, &out, &SinkOptions::default()).map_err(|e| e.to_string())?;

    for p in 0..npos {
        pipeline.push(Input::Frames(FrameSet::new(CAMS.iter().map(|c| (*c, layout.name(c, p))))));
    }
    let (_, summary) = pipeline.finish();
    println!("이벤트 {} 개, 훅 호출 {} 번, 훅 패닉 {}", summary.events, summary.hook_calls, summary.hook_panics);

    for f in ["timeline.txt", "run.log", "snapshots/manifest.json", "snapshots/timeline.txt", "DONE"] {
        let p = out.join(f);
        println!("{} {}", if p.exists() { "있음" } else { "없음" }, p.display());
    }
    Ok(())
}

Trait Implementations

impl Clone for Event

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Event

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.