Epic 148A/148B: point-cloud conformance harness (PCL/PDAL) - #107
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Add a versioned point-cloud benchmark manifest and stdlib-only report contract under bench/pcl_comparison/, a PDAL comparison runner under bench/pdal_comparison/, and a translate_xyz workload to bench_ops behind transform-ops so SpatialRust can be compared against PDAL's transform filter. Record a dated, honest SpatialRust-vs-PCL receipt on the identical public 460,400-point cloud (voxel 1.70x, normals 4.56x, SOR 4.91x, radius-outlier 6.62x).
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Summary
Starts the point-cloud conformance program that mirrors the OpenCV comparison work (Epics 101–111): reproducible, honest PCL/PDAL comparisons on identical public clouds with a versioned report contract.
Deliverables
spatialrust.pointcloud-benchmark-manifest.v1:small(460,400-point public PCL scan) andfull(2M synthetic room) profiles, required statistics, publication receipt fields, six workloads across filtering/features/io-transform.spatialrust.pointcloud-comparison.v1stdlib-only report contract (timed sampling, robust stats, PCL/PDAL/Open3D environment receipt, finite/required-key validation) + 7 contract tests intest_report.py.voxelcenternearest,filters.transformationtranslate,filters.reprojection) andrun.shthat buildsbench_opsand prints the table.translate_xyzworkload behindtransform-opsto compare with PDAL's transform filter.receipt-2026-08-07.json.Dated result (Linux, libpcl-dev, 460,400-point public cloud)
Honest single-run numbers, not portability guarantees. PDAL/Open3D runners are ready but need a machine with those tools for dated numbers.
Verification
python bench/pcl_comparison/test_report.py— 7 contract tests passcargo test --workspacepasses; clippy-D warningscleanbench_opsbuilds with and withouttransform-ops