Struct Session 

pub struct Session { /* private fields */ }

Incremental reconstruction state value.

Implementations

impl Session

pub fn new(cfg: SessionConfig) -> Self

Create an empty session from the settings.

Examples found in repository

examples/hooks.rs (line 71)

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(())
}

pub fn set_sink(&self, sink: Option<EventSink>)

Set/clear the immediate-delivery receiver (shared by the session lineage). When set, background events accumulated so far are delivered first.

pub fn emit_external(&self, make: impl FnOnce(Meta) -> Event)

Emit an event from outside (e.g. a hook runner) in this session’s version order. If there is no receiver, it accumulates in the inbox.

pub fn advance(self, input: Input) -> (Session, Vec<Event>)

State transition (owned version, no copying). step/poll/command/finish are thin wrappers around this.

pub fn apply(&mut self, input: Input) -> Vec<Event>

In-place state transition. Returned events are in version order (events emitted by background jobs in the meantime are also inserted in place).

pub fn positions(&self) -> usize

Number of processed positions.

pub fn frames(&self) -> &[Vec<FrameImage>]

Frame bundle per position.

pub fn position_of(&self, name: &str) -> Option<usize>

Position of an image name.

pub fn model(&self) -> Option<&Reconstruction>

Current chain model (None before the first model).

pub fn adopted(&self) -> Option<usize>

The last refined zone adopted as the chain reference.

pub fn store(&self) -> &FeatureStore

Feature store.

pub fn graph(&self) -> &MatchGraph

Correspondence graph.

pub fn config(&self) -> &SessionConfig

Session settings.

pub fn arrived_zones(&self) -> Vec<ZoneRange>

Zones that have arrived (been processed).

pub fn previews(&self) -> &BTreeMap<usize, PreviewZone>

Per-zone preview results.

pub fn refined(&self) -> BTreeMap<usize, RefinedZone>

Per-zone refined results (those with finalized poses, the current value shared with background jobs).

pub fn pending_jobs(&self) -> usize

Number of background refinement jobs not yet finished.

pub fn version(&self) -> u64

The last event version issued.

pub fn failed(&self) -> Option<&str>

Fatal error (feature extraction, matching, first model failure). If set, later frames are ignored.

pub fn is_finished(&self) -> bool

Whether Finish was handled.

pub fn lookahead(&self) -> Lookahead

Handle that starts the feature extraction of upcoming positions ahead of the position loop (see Lookahead). It is inert unless SessionConfig::lookahead is above 0. Usable from any thread, also while the session is busy.

Trait Implementations

impl Clone for Session

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Reducer for Session

The session as a reducer driven by crate::pipeline::Pipeline. finish closes the remaining zones and waits for all background refinement jobs.

type Input = Input

Input pushed in one go (e.g. the frame bundle of one position).

fn step(&mut self, input: Input) -> Vec<Event>

Process one input and return the resulting events in order.

fn prelude(&mut self, input: &Input) -> Vec<Event>

Events to emit as soon as the input is received, before step processes it (e.g. decoded frames). Default: none.

fn poll(&mut self) -> Vec<Event>

Collect finished background work (refinement etc.). Does not wait.

fn command(&mut self, c: Command) -> Vec<Event>

Process a command.

fn finish(&mut self) -> Vec<Event>

Wait until all remaining background work finishes and collect it. The default implementation is a single poll. Reducers with background work must override it.