Point-cloud registration | UnitCompose CI demos

Latest result

bounded sample -> ICP -> transform -> residual metrics

points=4096 iterations=37 initial_rmse=0.435053 final_rmse=0.023408

Module structure and measured execution

Prepared topology

flowchart TD
  unit_696370["icp<br/>Unit<br/>point.icp/v1"]:::unit
  unit_6d657472696373["metrics<br/>Unit<br/>point.metrics/v1"]:::unit
  unit_73616d706c65["sample<br/>Unit<br/>point.sample/v1"]:::unit
  unit_7472616e73666f726d["transform<br/>Unit<br/>point.transform/v1"]:::unit
  resource_616c69676e65645f636c6f7564(["aligned_cloud<br/>Resource<br/>point.AlignedCloud/v1"]):::resource
  unit_7472616e73666f726d -->|out| resource_616c69676e65645f636c6f7564
  resource_616c69676e65645f636c6f7564 -->|input| unit_6d657472696373
  resource_636c6f75645f70616972[/"cloud_pair<br/>Module input<br/>point.CloudPair/v1"/]:::moduleInput
  resource_636c6f75645f70616972 -->|pair| unit_73616d706c65
  resource_6963705f726573756c74(["icp_result<br/>Resource<br/>point.IcpResult/v1"]):::resource
  unit_696370 -->|out| resource_6963705f726573756c74
  resource_6963705f726573756c74 -->|icp| unit_7472616e73666f726d
  resource_726567697374726174696f6e5f726573756c74{{"registration_result<br/>Module output<br/>point.RegistrationResult/v1"}}:::moduleOutput
  unit_6d657472696373 -->|out| resource_726567697374726174696f6e5f726573756c74
  resource_73616d706c65645f636c6f756473(["sampled_clouds<br/>Resource<br/>point.SampledClouds/v1"]):::resource
  unit_73616d706c65 -->|out| resource_73616d706c65645f636c6f756473
  resource_73616d706c65645f636c6f756473 -->|input| unit_696370
  resource_73616d706c65645f636c6f756473 -->|sampled| unit_7472616e73666f726d
  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_696370["icp<br/>Unit<br/>point.icp/v1<br/>avg 5200.051 ms / p99 5231.202 ms / n=8"]:::unit
  unit_6d657472696373["metrics<br/>Unit<br/>point.metrics/v1<br/>avg 36.9 us / p99 58.5 us / n=8"]:::unit
  unit_73616d706c65["sample<br/>Unit<br/>point.sample/v1<br/>avg 611.9 us / p99 656.8 us / n=8"]:::unit
  unit_7472616e73666f726d["transform<br/>Unit<br/>point.transform/v1<br/>avg 455.947 ms / p99 460.749 ms / n=8"]:::unit
  resource_616c69676e65645f636c6f7564(["aligned_cloud<br/>Resource<br/>point.AlignedCloud/v1"]):::resource
  unit_7472616e73666f726d -->|out| resource_616c69676e65645f636c6f7564
  resource_616c69676e65645f636c6f7564 -->|input| unit_6d657472696373
  resource_636c6f75645f70616972[/"cloud_pair<br/>Module input<br/>point.CloudPair/v1"/]:::moduleInput
  resource_636c6f75645f70616972 -->|pair| unit_73616d706c65
  resource_6963705f726573756c74(["icp_result<br/>Resource<br/>point.IcpResult/v1"]):::resource
  unit_696370 -->|out| resource_6963705f726573756c74
  resource_6963705f726573756c74 -->|icp| unit_7472616e73666f726d
  resource_726567697374726174696f6e5f726573756c74{{"registration_result<br/>Module output<br/>point.RegistrationResult/v1"}}:::moduleOutput
  unit_6d657472696373 -->|out| resource_726567697374726174696f6e5f726573756c74
  resource_73616d706c65645f636c6f756473(["sampled_clouds<br/>Resource<br/>point.SampledClouds/v1"]):::resource
  unit_73616d706c65 -->|out| resource_73616d706c65645f636c6f756473
  resource_73616d706c65645f636c6f756473 -->|input| unit_696370
  resource_73616d706c65645f636c6f756473 -->|sampled| unit_7472616e73666f726d
  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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