RTSAM

Real Time Smoothing and Mapping (RTSAM) in Rust.

Development Plan

• [x] Standard Lie algebra in Rust
• [ ] Working simple factor graph generation
• [ ] Working LLVM-based JIT for CPU/GPU targets (WIP branch dev-jit)
• [ ] Working symbolic evaluation and autograd
• [ ] Design a continous storage strategy for factors
• [ ] Dynamic scheduling of JIT'ed code fragments
• [ ] GPU LM/GS Kernels with JIT'ed lazy evaluation

Warning

This work is a WIP.

LICENSE

BSD 3-Clause

Copyright (c) 2020, Fan Jiang

Code from the nalgebra project: Copyright (c) 2013, Sébastien Crozet