LiDAR SLAM | UnitCompose CI demos

Latest result

synchronized LiDAR frame -> stateful planar SLAM -> bounded trajectory, map, and error snapshot

frames=480 updates=454 keyframes=127 loops=4 accepted=384 dropped=888 translation_error=0.0014 rotation_error=0.0009 scan_capacity=384 map_capacity=2048

Module structure and measured execution

Prepared topology

flowchart TD
  unit_7363616e5f70726570617265["scan_prepare<br/>Unit<br/>lidar.scan_prepare/v1"]:::unit
  unit_736c616d["slam<br/>Unit<br/>lidar.slamwich/v1"]:::unit
  unit_736e617073686f74["snapshot<br/>Unit<br/>lidar.snapshot/v1"]:::unit
  resource_6c696461725f6672616d65[/"lidar_frame<br/>Module input<br/>lidar.SynchronizedFrame/v1"/]:::moduleInput
  resource_6c696461725f6672616d65 -->|frame| unit_7363616e5f70726570617265
  resource_6c696461725f6672616d65 -->|frame| unit_736e617073686f74
  resource_70726570617265645f6672616d65(["prepared_frame<br/>Resource<br/>lidar.PreparedFrame/v1"]):::resource
  unit_7363616e5f70726570617265 -->|prepared| resource_70726570617265645f6672616d65
  resource_70726570617265645f6672616d65 -->|prepared| unit_736c616d
  resource_736c616d5f6f62736572766174696f6e(["slam_observation<br/>Resource<br/>lidar.SlamObservation/v1"]):::resource
  unit_736c616d -->|observation| resource_736c616d5f6f62736572766174696f6e
  resource_736c616d5f6f62736572766174696f6e -->|observation| unit_736e617073686f74
  resource_736c616d5f736e617073686f74{{"slam_snapshot<br/>Module output<br/>lidar.SlamSnapshot/v1"}}:::moduleOutput
  unit_736e617073686f74 -->|snapshot| resource_736c616d5f736e617073686f74
  classDef unit fill:#eef2ff,stroke:#4338ca,stroke-width:1px
  classDef resource fill:#f8fafc,stroke:#64748b,stroke-width:1px
  classDef moduleInput fill:#ecfdf5,stroke:#047857,stroke-width:2px
  classDef moduleOutput fill:#fff7ed,stroke:#c2410c,stroke-width:3px
  classDef moduleInputOutput fill:#fefce8,stroke:#a16207,stroke-width:3px

Completed-run timing

flowchart TD
  unit_7363616e5f70726570617265["scan_prepare<br/>Unit<br/>lidar.scan_prepare/v1<br/>avg 70.5 us / p99 99.0 us / n=480"]:::unit
  unit_736c616d["slam<br/>Unit<br/>lidar.slamwich/v1<br/>avg 421.335 ms / p99 1822.032 ms / n=480"]:::unit
  unit_736e617073686f74["snapshot<br/>Unit<br/>lidar.snapshot/v1<br/>avg 31.2 us / p99 51.0 us / n=480"]:::unit
  resource_6c696461725f6672616d65[/"lidar_frame<br/>Module input<br/>lidar.SynchronizedFrame/v1"/]:::moduleInput
  resource_6c696461725f6672616d65 -->|frame| unit_7363616e5f70726570617265
  resource_6c696461725f6672616d65 -->|frame| unit_736e617073686f74
  resource_70726570617265645f6672616d65(["prepared_frame<br/>Resource<br/>lidar.PreparedFrame/v1"]):::resource
  unit_7363616e5f70726570617265 -->|prepared| resource_70726570617265645f6672616d65
  resource_70726570617265645f6672616d65 -->|prepared| unit_736c616d
  resource_736c616d5f6f62736572766174696f6e(["slam_observation<br/>Resource<br/>lidar.SlamObservation/v1"]):::resource
  unit_736c616d -->|observation| resource_736c616d5f6f62736572766174696f6e
  resource_736c616d5f6f62736572766174696f6e -->|observation| unit_736e617073686f74
  resource_736c616d5f736e617073686f74{{"slam_snapshot<br/>Module output<br/>lidar.SlamSnapshot/v1"}}:::moduleOutput
  unit_736e617073686f74 -->|snapshot| resource_736c616d5f736e617073686f74
  classDef unit fill:#eef2ff,stroke:#4338ca,stroke-width:1px
  classDef resource fill:#f8fafc,stroke:#64748b,stroke-width:1px
  classDef moduleInput fill:#ecfdf5,stroke:#047857,stroke-width:2px
  classDef moduleOutput fill:#fff7ed,stroke:#c2410c,stroke-width:3px
  classDef moduleInputOutput fill:#fefce8,stroke:#a16207,stroke-width:3px

Interactive recording

The fixed Rerun 0.24.1 blueprint shows domain outputs, quality metrics, and Unit timings from this CI run.

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