RTSAM

Real Time Smoothing and Mapping (RTSAM) in Rust.

Development Plan

• 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