schema: unit-compose/v0alpha1
module: point_cloud_registration

inputs:
  cloud_pair: { type: point.CloudPair/v1 }

units:
  sample:
    type: point.sample/v1
    config: { max_points: 4096 }
    inputs: { pair: cloud_pair }
    outputs: { out: sampled_clouds }
  icp:
    type: point.icp/v1
    config: { max_points: 4096 }
    inputs: { input: sampled_clouds }
    outputs: { out: icp_result }
  transform:
    type: point.transform/v1
    config: { max_points: 4096 }
    inputs: { icp: icp_result, sampled: sampled_clouds }
    outputs: { out: aligned_cloud }
  metrics:
    type: point.metrics/v1
    config: { max_points: 4096 }
    inputs: { input: aligned_cloud }
    outputs: { out: registration_result }

outputs:
  result: registration_result