Cargo.toml

[package]
name = "spatialrust"
version.workspace = true
edition.workspace = true
license.workspace = true
authors.workspace = true
repository.workspace = true
rust-version.workspace = true
description = "Next-generation spatial computing framework for Rust"

[features]
default = []
serde = [
    "spatialrust-core/serde",
    "spatialrust-math/serde",
    "spatialrust-viewer?/serde",
]
tensor-aoso = ["spatialrust-core/tensor-aoso"]
io-pcd = ["spatialrust-io/io-pcd"]
io-ply = ["spatialrust-io/io-ply"]
io-las = ["spatialrust-io/io-las"]
io-laz = ["spatialrust-io/io-laz"]
io-e57 = ["spatialrust-io/io-e57"]
io-copc = ["spatialrust-io/io-copc"]
io-copc-http = ["io-copc", "spatialrust-io/io-copc-http"]
io-manifest = ["spatialrust-io/io-manifest"]
storage-preflight = ["spatialrust-io/storage-preflight"]
io-streaming = ["records", "spatialrust-io/streaming"]
search-kdtree = ["spatialrust-search/search-kdtree"]
search-parallel = ["search-kdtree", "spatialrust-search/parallel"]
search-graph = ["spatialrust-search/search-graph"]
filter-voxel = ["spatialrust-filtering/filter-voxel"]
filter-voxel-gpu = [
    "spatialrust-filtering/filter-voxel-gpu",
    "gpu-wgpu",
]
filter-outlier = [
    "spatialrust-filtering/filter-outlier",
    "spatialrust-search/search-kdtree",
]
filter-crop = ["spatialrust-filtering/filter-crop"]
filter-fps = ["spatialrust-filtering/filter-fps"]
filter-mls = [
    "spatialrust-filtering/filter-mls",
    "spatialrust-search/search-kdtree",
]
feature-normal = ["spatialrust-features/feature-normal", "spatialrust-search/search-kdtree"]
feature-iss = ["spatialrust-features/feature-iss", "spatialrust-search/search-kdtree"]
feature-normal-orient = [
    "spatialrust-features/feature-normal-orient",
    "spatialrust-search/search-kdtree",
]
feature-boundary = [
    "spatialrust-features/feature-boundary",
    "spatialrust-search/search-kdtree",
]
feature-normal-gpu = [
    "spatialrust-features/feature-normal-gpu",
    "feature-normal",
    "gpu-wgpu",
]
segment-ransac-plane = ["spatialrust-segmentation/segment-ransac-plane"]
segment-ransac-plane-gpu = [
    "spatialrust-segmentation/segment-ransac-plane-gpu",
    "gpu-wgpu",
]
segment-multi-plane = ["spatialrust-segmentation/segment-multi-plane"]
segment-euclidean = [
    "spatialrust-segmentation/segment-euclidean",
    "spatialrust-search/search-kdtree",
]
segment-euclidean-gpu = [
    "spatialrust-segmentation/segment-euclidean-gpu",
    "gpu-wgpu",
]
segment-dbscan = [
    "spatialrust-segmentation/segment-dbscan",
    "spatialrust-search/search-kdtree",
]
segment-ransac-primitives = ["spatialrust-segmentation/segment-ransac-primitives"]
segment-ground = ["spatialrust-segmentation/segment-ground"]
segment-region-growing = [
    "spatialrust-segmentation/segment-region-growing",
    "spatialrust-search/search-kdtree",
]
register-icp = [
    "spatialrust-registration/register-icp",
    "spatialrust-search/search-kdtree",
]
register-icp-point-to-plane = [
    "spatialrust-registration/register-icp-point-to-plane",
    "spatialrust-search/search-kdtree",
]
register-gicp = [
    "spatialrust-registration/register-gicp",
    "spatialrust-search/search-kdtree",
]
register-gicp-gpu = [
    "spatialrust-registration/register-gicp-gpu",
    "register-gicp",
    "gpu-wgpu",
]
register-ndt = ["spatialrust-registration/register-ndt"]
register-fpfh = [
    "spatialrust-registration/register-fpfh",
    "spatialrust-search/search-kdtree",
]
mvp = [
    "io-pcd",
    "io-ply",
    "io-las",
    "io-copc",
    "filter-voxel",
    "feature-normal",
    "search-kdtree",
    "segment-ransac-plane",
    "segment-euclidean",
    "register-icp",
    "pipeline-mvp",
    "io-manifest",
]
mvp-http = ["mvp", "io-copc-http"]
pipeline-mvp = ["spatialrust-pipeline/pipeline-mvp"]
pipeline-streaming = [
    "records",
    "io-streaming",
    "spatialrust-pipeline/pipeline-streaming",
]
streaming-cli = [
    "pipeline-streaming",
    "io-pcd",
    "io-ply",
    "io-las",
    "io-laz",
    "io-copc-http",
    "records-receipt-json",
    "io-manifest",
    "dep:ctrlc",
]
pipeline-mvp-gpu = [
    "spatialrust-pipeline/pipeline-mvp-gpu",
    "filter-voxel-gpu",
    "segment-ransac-plane-gpu",
    "feature-normal-gpu",
    "segment-euclidean-gpu",
]
gpu-wgpu = ["spatialrust-gpu/gpu-wgpu"]
gpu-aoso-staging = ["gpu-wgpu", "tensor-aoso", "spatialrust-gpu/gpu-aoso-staging"]
gpu-image = ["gpu-wgpu", "image", "spatialrust-gpu/gpu-image"]
metrics-distance = ["spatialrust-metrics/metrics-distance"]
transform-ops = ["spatialrust-transform/transform-ops"]
voxelize-occupancy = ["spatialrust-voxelize/voxelize-occupancy"]
voxelize-range-image = ["spatialrust-voxelize/voxelize-range-image"]
image = ["dep:spatialrust-image"]
tensor = ["dep:spatialrust-tensor"]
tensor-image = ["tensor", "image", "spatialrust-tensor/image"]
tensor-spatial = ["tensor", "spatialrust-tensor/spatial"]
tensor-dlpack = ["tensor", "spatialrust-tensor/dlpack"]
ai = ["tensor", "dep:spatialrust-ai"]
ai-onnxruntime = ["ai", "spatialrust-ai/onnxruntime"]
ai-onnxruntime-cuda = ["ai-onnxruntime", "spatialrust-ai/onnxruntime-cuda"]
ai-onnxruntime-tensorrt = ["ai-onnxruntime-cuda", "spatialrust-ai/onnxruntime-tensorrt"]
ai-onnxruntime-directml = ["ai-onnxruntime", "spatialrust-ai/onnxruntime-directml"]
image-io = ["image", "dep:spatialrust-image-io"]
image-io-standard = ["image-io", "spatialrust-image-io/standard"]
image-io-tiff = ["image-io", "spatialrust-image-io/tiff"]
image-io-openexr = ["image-io", "spatialrust-image-io/openexr"]
image-io-full = ["image-io-standard", "image-io-tiff", "image-io-openexr"]
camera = ["dep:spatialrust-camera"]
camera-rgbd = ["image", "camera"]
vision = ["image", "dep:spatialrust-vision"]
vision-resize = ["vision", "spatialrust-vision/resize"]
vision-preprocess = ["vision-resize", "spatialrust-vision/preprocess"]
vision-warp = ["vision-resize", "spatialrust-vision/warp"]
vision-imgproc-filter = ["vision", "spatialrust-vision/imgproc-filter"]
vision-imgproc-morphology = ["vision", "spatialrust-vision/imgproc-morphology"]
vision-imgproc-analysis = ["vision", "spatialrust-vision/imgproc-analysis"]
vision-imgproc-canny = ["vision-imgproc-filter", "spatialrust-vision/imgproc-canny"]
vision-feature2d = ["vision", "spatialrust-vision/feature2d"]
vision-geometry = ["vision", "camera", "spatialrust-vision/geometry"]
vision-odometry = ["vision-geometry", "vision-feature2d", "spatialrust-vision/odometry"]
vision-photography = ["vision-warp", "vision-geometry", "spatialrust-vision/photography"]
mapping-vision-odometry = ["vision-odometry", "mapping", "spatialrust-mapping/vision-odometry"]
vision-detection = ["vision", "spatialrust-vision/detection"]
vision-dense = ["vision-detection", "spatialrust-vision/dense"]
vision-spatial = ["vision-dense", "camera-rgbd", "spatialrust-vision/spatial"]
vision-ai-adapters = ["vision-preprocess", "vision-dense", "tensor-image", "spatialrust-vision/ai-adapters"]
vision-video = ["vision-dense", "spatialrust-vision/video"]
vision-video-adapters = ["vision-video", "spatialrust-vision/video-adapters"]
vision-full = [
    "vision-preprocess",
    "vision-warp",
    "vision-imgproc-filter",
    "vision-imgproc-morphology",
    "vision-imgproc-analysis",
    "vision-imgproc-canny",
    "vision-feature2d",
    "vision-geometry",
    "vision-odometry",
    "vision-photography",
    "vision-detection",
    "vision-dense",
    "vision-spatial",
    "vision-ai-adapters",
    "vision-video-adapters",
]
ai-vision-pipeline = ["ai", "vision-ai-adapters", "vision-spatial"]
records = ["dep:spatialrust-records"]
records-receipt-json = ["records", "spatialrust-records/receipt-json"]
arrow-c-data = ["records", "dep:spatialrust-arrow", "spatialrust-arrow/arrow-c-data"]
arrow-c-stream = ["arrow-c-data", "spatialrust-arrow/arrow-c-stream"]
arrow-c-device = ["arrow-c-data", "spatialrust-arrow/arrow-c-device"]
arrow-full = ["arrow-c-stream", "arrow-c-device"]
sync = ["records", "dep:spatialrust-sync"]
sync-mcap = ["sync", "spatialrust-sync/mcap"]
mapping = ["sync", "dep:spatialrust-mapping"]
mapping-scan-icp = ["mapping", "spatialrust-mapping/scan-icp"]
scene = ["dep:spatialrust-scene"]
scene-gaussian = ["scene", "spatialrust-scene/gaussian"]
semantic = ["records", "dep:spatialrust-semantic"]
semantic-model = [
    "semantic",
    "spatialrust-semantic/model",
    "ai",
    "tensor",
]
episode = ["sync", "dep:spatialrust-episode"]
runtime = ["sync", "dep:spatialrust-runtime"]
runtime-graph = ["runtime", "distribute", "spatialrust-runtime/execution-graph"]
runtime-ros2 = ["runtime", "spatialrust-runtime/ros2"]
rosbag2-sqlite = ["dep:spatialrust-ros2", "spatialrust-ros2/rosbag2-sqlite"]
interchange-gltf = ["scene", "dep:spatialrust-interchange", "spatialrust-interchange/gltf"]
interchange-openusd = ["scene", "dep:spatialrust-interchange", "spatialrust-interchange/openusd"]
interchange-tiles3d = [
    "scene",
    "dep:spatialrust-interchange",
    "spatialrust-interchange/tiles3d",
]
interchange-tiles3d-copc = [
    "interchange-tiles3d",
    "io-copc",
    "spatialrust-interchange/tiles3d-copc",
]
interchange-full = [
    "interchange-gltf",
    "interchange-openusd",
    "interchange-tiles3d",
    "interchange-tiles3d-copc",
]
distribute = ["dep:spatialrust-distribute"]
platform = ["dep:spatialrust-platform"]
viz = ["dep:spatialrust-viz", "spatialrust-viz/core"]
render-wgpu = [
    "viz",
    "gpu-wgpu",
    "dep:spatialrust-render-wgpu",
    "spatialrust-render-wgpu/wgpu",
]
viewer = ["viz", "dep:spatialrust-viewer"]
viewer-native = ["viewer", "render-wgpu", "spatialrust-viewer/native"]
viewer-scene = ["viewer", "scene", "spatialrust-viewer/scene"]
viewer-gaussian = [
    "viewer-scene",
    "scene-gaussian",
    "spatialrust-viewer/scene-gaussian",
]
viewer-mapping = ["viewer", "mapping", "spatialrust-viewer/mapping"]
viewer-rgbd = ["viewer", "camera-rgbd", "spatialrust-viewer/camera"]
viewer-semantic = ["viewer", "semantic", "spatialrust-viewer/semantic"]
viewer-full = [
    "viewer-native",
    "viewer-gaussian",
    "viewer-mapping",
    "viewer-rgbd",
    "viewer-semantic",
]
lod = ["viz", "records", "dep:spatialrust-lod", "spatialrust-lod/records"]
lod-copc = ["lod", "io-copc", "spatialrust-lod/copc"]
viewer-lod = ["viewer", "render-wgpu", "lod-copc"]
web = ["viewer", "dep:spatialrust-web"]
web-wasm = ["web", "spatialrust-web/wasm"]
web-webgpu = [
    "web-wasm",
    "render-wgpu",
    "spatialrust-web/webgpu",
]
north-star = [
    "records",
    "arrow-full",
    "sync",
    "mapping",
    "scene",
    "scene-gaussian",
    "semantic",
    "episode",
    "runtime",
    "interchange-full",
    "distribute",
    "platform",
]
north-star-e2e = ["north-star", "ai-vision-pipeline", "sync-mcap", "runtime-ros2"]

[dependencies]
spatialrust-core = { workspace = true }
spatialrust-math = { workspace = true }
spatialrust-io = { workspace = true }
spatialrust-gpu = { workspace = true }
spatialrust-search = { workspace = true }
spatialrust-filtering = { workspace = true }
spatialrust-features = { workspace = true }
spatialrust-segmentation = { workspace = true }
spatialrust-registration = { workspace = true }
spatialrust-pipeline = { workspace = true }
spatialrust-metrics = { workspace = true }
spatialrust-transform = { workspace = true }
spatialrust-voxelize = { workspace = true }
spatialrust-image = { workspace = true, optional = true }
spatialrust-tensor = { workspace = true, optional = true }
spatialrust-ai = { workspace = true, optional = true }
spatialrust-image-io = { workspace = true, optional = true }
spatialrust-camera = { workspace = true, optional = true }
spatialrust-vision = { workspace = true, optional = true }
spatialrust-records = { workspace = true, optional = true }
spatialrust-arrow = { workspace = true, optional = true }
spatialrust-sync = { workspace = true, optional = true }
spatialrust-mapping = { workspace = true, optional = true }
spatialrust-scene = { workspace = true, optional = true }
spatialrust-semantic = { workspace = true, optional = true }
spatialrust-episode = { workspace = true, optional = true }
spatialrust-runtime = { workspace = true, optional = true }
spatialrust-ros2 = { workspace = true, optional = true }
spatialrust-interchange = { workspace = true, optional = true }
spatialrust-distribute = { workspace = true, optional = true }
spatialrust-platform = { workspace = true, optional = true }
spatialrust-viz = { workspace = true, optional = true }
spatialrust-render-wgpu = { workspace = true, optional = true }
spatialrust-viewer = { workspace = true, optional = true }
spatialrust-lod = { workspace = true, optional = true }
spatialrust-web = { workspace = true, optional = true }
ctrlc = { version = "3.4", optional = true }

[dev-dependencies]

[[test]]
name = "vision_api_v1"
path = "tests/vision_api_v1.rs"
required-features = ["platform", "camera-rgbd", "vision-full"]

[[test]]
name = "streaming_cli"
path = "tests/streaming_cli.rs"
required-features = ["streaming-cli"]

[[test]]
name = "tiles3d_smoke"
path = "tests/tiles3d_smoke.rs"
required-features = ["interchange-tiles3d", "io-pcd", "interchange-tiles3d-copc", "io-copc"]

[[test]]
name = "onnx_semantic"
path = "tests/onnx_semantic.rs"
required-features = ["ai-onnxruntime", "semantic-model"]

[[example]]
name = "north_star_demo"
path = "examples/north_star_demo.rs"
required-features = ["north-star-e2e"]

[[example]]
name = "vision_1_cpu"
path = "examples/vision_1_cpu.rs"
required-features = ["vision-full"]

[[example]]
name = "vision_1_release_gate"
path = "examples/vision_1_release_gate.rs"
required-features = ["platform"]

[[example]]
name = "vision_2_release_gate"
path = "examples/vision_2_release_gate.rs"
required-features = ["platform"]

[[example]]
name = "visual_release_gate"
path = "examples/visual_release_gate.rs"
required-features = ["platform"]

[[example]]
name = "visual_headless_conformance"
path = "examples/visual_headless_conformance.rs"
required-features = ["render-wgpu"]

[[example]]
name = "streaming_1_2_release_gate"
path = "examples/streaming_1_2_release_gate.rs"
required-features = ["platform", "pipeline-streaming"]

[[example]]
name = "video_tracking_e2e"
path = "examples/video_tracking_e2e.rs"
required-features = ["image-io-standard", "vision-video"]

[[bin]]
name = "spatialrust-mvp"
path = "src/bin/spatialrust_mvp.rs"
required-features = ["mvp"]

[[bin]]
name = "spatialrust-stream"
path = "src/bin/spatialrust_stream.rs"
required-features = ["streaming-cli"]

[[example]]
name = "readme_mvp_preview"
path = "examples/readme_mvp_preview.rs"
required-features = ["mvp"]

[[example]]
name = "bench_ops"
path = "examples/bench_ops.rs"
required-features = ["mvp", "filter-outlier"]

[[example]]
name = "bench_ransac_plane"
path = "examples/bench_ransac_plane.rs"
required-features = [
    "segment-ransac-plane",
    "segment-ransac-plane-gpu",
    "io-pcd",
    "gpu-wgpu",
    "filter-voxel",
    "feature-normal",
]

[[example]]
name = "bench_euclidean_cluster"
path = "examples/bench_euclidean_cluster.rs"
required-features = [
    "segment-euclidean",
    "segment-euclidean-gpu",
    "segment-ransac-plane",
    "io-pcd",
    "gpu-wgpu",
    "filter-voxel",
    "feature-normal",
]

[[example]]
name = "native_viewer"
path = "examples/native_viewer.rs"
required-features = ["viewer-native"]

[[example]]
name = "tiles3d_export"
path = "examples/tiles3d_export.rs"
required-features = ["io-pcd", "filter-voxel", "interchange-tiles3d"]

[[example]]
name = "tiles3d_copc_export"
path = "examples/tiles3d_copc_export.rs"
required-features = ["io-copc", "interchange-tiles3d-copc"]