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name: main | ||
on: | ||
push: | ||
branches: [main] | ||
pull_request: | ||
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workflow_dispatch: | ||
jobs: | ||
build: | ||
runs-on: ubuntu-20.04 | ||
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steps: | ||
- uses: actions/checkout@v3 | ||
with: | ||
submodules: "recursive" | ||
- name: Run sccache-cache | ||
uses: mozilla-actions/[email protected] | ||
- name: Run sccache stat for check before | ||
shell: bash | ||
run: ${SCCACHE_PATH} --show-stats | ||
- uses: actions-rs/toolchain@v1 | ||
with: | ||
toolchain: nightly | ||
- name: cargo | ||
env: | ||
SCCACHE_GHA_ENABLED: "true" | ||
RUSTC_WRAPPER: "sccache" | ||
run: | | ||
sudo apt-get update -y | ||
sudo apt-get install -y nasm | ||
cargo doc --no-deps --featues simd | ||
cargo fmt --check --featues simd | ||
cargo test --release --featues simd | ||
- name: Run sccache stat for check after | ||
shell: bash | ||
run: ${SCCACHE_PATH} --show-stats |
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name: pre-commit | ||
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on: | ||
push: | ||
branches: | ||
- main | ||
pull_request: | ||
branches: | ||
- main | ||
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jobs: | ||
pre-commit-check: | ||
runs-on: ubuntu-latest | ||
steps: | ||
- name: Checkout workspace | ||
uses: actions/checkout@v3 | ||
- name: Install pre-commit and install | ||
run: | | ||
pip install pre-commit | ||
pre-commit install | ||
- name: Run pre-commit checks | ||
run: pre-commit run --all-files |
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repos: | ||
- repo: https://github.com/pre-commit/pre-commit-hooks | ||
rev: v4.1.0 | ||
hooks: | ||
- id: trailing-whitespace | ||
- id: end-of-file-fixer | ||
exclude: (thirdparty/.*)|(SOPHUS_VERSION)|(.txt)$ | ||
- id: check-yaml | ||
args: ["--unsafe"] | ||
- id: check-json | ||
- repo: https://github.com/codespell-project/codespell | ||
rev: v2.1.0 | ||
hooks: | ||
- id: codespell | ||
args: | ||
- --ignore-words-list | ||
- "te,tring,crate" |
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# sophus-rs | ||
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This library is in an early development stage - hence API is highly unstable. | ||
sophus-rs is a Rust library for 2d and 3d geometry for Computer Vision and Robotics applications. | ||
It is a spin-off of the [Sophus](https://github.com/strasdat/Sophus) C++ library which | ||
focuses on **Lie groups** (e.g. rotations and transformations in 2d and 3d). | ||
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Sophus-rs currently requires rust nightly. The only nightly feature it uses is `portable-simd`. | ||
It is the intention to move to rust stable once `portable-simd` is stabilized. There is no current | ||
plan to depend on other nightly features. | ||
In addition to Lie groups, sophus-rs also includes other geometric/maths concepts such unit vector, | ||
splines, image classes, camera models as well as a other utilities such as a non-linear least | ||
squares optimization. | ||
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## Status | ||
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This library is in an early development stage - hence API is highly unstable. It is likely that | ||
existing features will be removed or changed in the future. | ||
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However, the intend is to stride for correctness, facilitated using a comprehensive test suite. | ||
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## Building | ||
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sophus-rs builds on stable. | ||
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```toml | ||
[dependencies] | ||
sophus = "0.7.0" | ||
``` | ||
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To allow for batch types, such as BatchScalarF64, the 'simd' feature is required. This feature | ||
depends on [`portable-simd`](https://doc.rust-lang.org/std/simd/index.html), which is currently | ||
only available on [nightly](https://doc.rust-lang.org/book/appendix-07-nightly-rust.html). There | ||
are plans to use any other nightly features. | ||
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```toml | ||
[dependencies] | ||
sophus = { version = "0.7.0", features = ["simd"] } | ||
``` |
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/// DualScalar matrix. | ||
/// Dual matrix. | ||
pub mod dual_matrix; | ||
pub use crate::calculus::dual::dual_matrix::DualBatchMatrix; | ||
pub use crate::calculus::dual::dual_matrix::DualMatrix; | ||
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/// DualScalar scalar. | ||
#[cfg(feature = "simd")] | ||
/// Dual batch matrix. | ||
pub mod dual_batch_matrix; | ||
#[cfg(feature = "simd")] | ||
pub use crate::calculus::dual::dual_batch_matrix::DualBatchMatrix; | ||
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/// Dual scalar. | ||
pub mod dual_scalar; | ||
pub use crate::calculus::dual::dual_scalar::DualBatchScalar; | ||
pub use crate::calculus::dual::dual_scalar::DualScalar; | ||
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/// DualScalar vector. | ||
#[cfg(feature = "simd")] | ||
/// Dual batch scalar. | ||
pub mod dual_batch_scalar; | ||
#[cfg(feature = "simd")] | ||
pub use crate::calculus::dual::dual_batch_scalar::DualBatchScalar; | ||
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/// Dual vector. | ||
pub mod dual_vector; | ||
pub use crate::calculus::dual::dual_vector::DualBatchVector; | ||
pub use crate::calculus::dual::dual_vector::DualVector; | ||
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#[cfg(feature = "simd")] | ||
/// Dual batch vector. | ||
pub mod dual_batch_vector; | ||
#[cfg(feature = "simd")] | ||
pub use crate::calculus::dual::dual_batch_vector::DualBatchVector; |
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