simd feat

.github/workflows/clippy.yml

@@ -0,0 +1,32 @@
+name: clippy
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+  workflow_dispatch:
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+
+    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: |
+          cargo clippy --all-targets --all-features
+      - name: Run sccache stat for check after
+        shell: bash
+        run: ${SCCACHE_PATH} --show-stats

.github/workflows/docs.yml

@@ -0,0 +1,33 @@
+name: docs
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+  workflow_dispatch:
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+
+    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: |
+          rustup default nightly
+          cargo doc --no-deps --all-features
+      - name: Run sccache stat for check after
+        shell: bash
+        run: ${SCCACHE_PATH} --show-stats

.github/workflows/format.yml

@@ -0,0 +1,28 @@
+name: format
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+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
+        - uses: actions-rs/toolchain@v1
+          with:
+            toolchain: nightly
+        - name: cargo doc
+          run: |
+            rustup default nightly
+            cargo doc --no-deps --all-features

.github/workflows/nightly.yml

@@ -0,0 +1,40 @@
+name: nightly
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+  workflow_dispatch:
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+
+    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 build
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+          RUSTC_WRAPPER: "sccache"
+        run: |
+          rustup default nightly
+          cargo build --release --all-targets --all-features
+      - name: cargo test
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+          RUSTC_WRAPPER: "sccache"
+        run: |
+          rustup default nightly
+          cargo test --release --all-features
+      - name: Run sccache stat for check after
+        shell: bash
+        run: ${SCCACHE_PATH} --show-stats

.github/workflows/main.yml → .github/workflows/stable.yml

@@ -1,4 +1,4 @@
-name: main
+name: stable
 on:
   push:
     branches: [main]
@@ -9,7 +9,7 @@ jobs:
   build:
     runs-on: ubuntu-20.04
 
-    steps: 
+    steps:
       - uses: actions/checkout@v3
         with:
           submodules: "recursive"
@@ -21,18 +21,18 @@ jobs:
       - uses: actions-rs/toolchain@v1
         with:
           toolchain: stable
-      - name: cargo
+      - name: cargo build
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+          RUSTC_WRAPPER: "sccache"
+        run: |
+          cargo build --release --all-targets
+      - name: cargo test
         env:
           SCCACHE_GHA_ENABLED: "true"
           RUSTC_WRAPPER: "sccache"
         run: |
-          sudo apt-get update -y
-          sudo apt-get install -y nasm
-          cargo doc --no-deps
-          cargo fmt --check
           cargo test --release
       - name: Run sccache stat for check after
         shell: bash
         run: ${SCCACHE_PATH} --show-stats
-
-

.pre-commit-config.yaml

@@ -0,0 +1,17 @@
+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"

Cargo.toml

@@ -21,17 +21,17 @@ include = [
 keywords = ["robotics", "optimization"]
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/farm-ng/sophus-rs/"
-version = "0.6.1"
+version = "0.7.0"
 
 [workspace.dependencies]
-sophus = {path = "crates/sophus", version = "0.6.1"}
-sophus_core = {path = "crates/sophus_core", version = "0.6.1"}
-sophus_image = {path = "crates/sophus_image", version = "0.6.1"}
-sophus_lie = {path = "crates/sophus_lie", version = "0.6.1"}
-sophus_opt = {path = "crates/sophus_opt", version = "0.6.1"}
-sophus_pyo3 = {path = "crates/sophus_pyo3", version = "0.6.1"}
-sophus_sensor = {path = "crates/sophus_sensor", version = "0.6.1"}
-sophus_viewer = {path = "crates/sophus_viewer", version = "0.6.1"}
+sophus = {path = "crates/sophus", version = "0.7.0"}
+sophus_core = {path = "crates/sophus_core", version = "0.7.0"}
+sophus_image = {path = "crates/sophus_image", version = "0.7.0"}
+sophus_lie = {path = "crates/sophus_lie", version = "0.7.0"}
+sophus_opt = {path = "crates/sophus_opt", version = "0.7.0"}
+sophus_pyo3 = {path = "crates/sophus_pyo3", version = "0.7.0"}
+sophus_sensor = {path = "crates/sophus_sensor", version = "0.7.0"}
+sophus_viewer = {path = "crates/sophus_viewer", version = "0.7.0"}
 
 approx = "0.5"
 as-any = "0.3"
@@ -58,7 +58,6 @@ num-traits = "0.2"
 numpy = "0.21"
 png = "0.17"
 rand = "0.8"
-sleef = "0.3"
 tokio = {version = "1", features = ["full"]}
 typenum = {version = "1.17", features = ["const-generics"]}
 wgpu = "0.19"

LICENSE-MIT

@@ -23,4 +23,4 @@ SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
 IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
+DEALINGS IN THE SOFTWARE.

README.md

@@ -1,7 +1,35 @@
 # sophus-rs
 
-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).
 
-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.
+
+## Status
+
+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.
+
+However, the intend is to stride for correctness, facilitated using a comprehensive test suite.
+
+## Building
+
+sophus-rs builds on stable.
+
+```toml
+[dependencies]
+sophus = "0.7.0"
+```
+
+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.
+
+```toml
+[dependencies]
+sophus = { version = "0.7.0", features = ["simd"] }
+```

crates/sophus/Cargo.toml

@@ -30,3 +30,13 @@ nalgebra.workspace = true
 ndarray.workspace = true
 tokio.workspace = true
 wgpu.workspace = true
+
+[features]
+simd = [
+    "sophus_core/simd",
+    "sophus_image/simd",
+    "sophus_lie/simd",
+    "sophus_opt/simd",
+    "sophus_sensor/simd",
+    "sophus_viewer/simd",
+]

crates/sophus/src/lib.rs

@@ -1,4 +1,4 @@
-#![feature(portable_simd)]
+#![cfg_attr(feature = "simd", feature(portable_simd))]
 #![allow(clippy::needless_range_loop)]
 
 pub mod examples;

crates/sophus_core/Cargo.toml

@@ -17,5 +17,10 @@ concat-arrays.workspace = true
 nalgebra.workspace = true
 ndarray.workspace = true
 num-traits.workspace = true
-sleef.workspace = true
 typenum.workspace = true
+
+sleef = { version = "0.3", optional = true }
+
+
+[features]
+simd = ["sleef"]

crates/sophus_core/src/calculus/dual.rs

@@ -1,14 +1,29 @@
-/// DualScalar matrix.
+/// Dual matrix.
 pub mod dual_matrix;
-pub use crate::calculus::dual::dual_matrix::DualBatchMatrix;
 pub use crate::calculus::dual::dual_matrix::DualMatrix;
 
-/// 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;
+
+/// Dual scalar.
 pub mod dual_scalar;
-pub use crate::calculus::dual::dual_scalar::DualBatchScalar;
 pub use crate::calculus::dual::dual_scalar::DualScalar;
 
-/// 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;
+
+/// Dual vector.
 pub mod dual_vector;
-pub use crate::calculus::dual::dual_vector::DualBatchVector;
 pub use crate::calculus::dual::dual_vector::DualVector;
+
+#[cfg(feature = "simd")]
+/// Dual batch vector.
+pub mod dual_batch_vector;
+#[cfg(feature = "simd")]
+pub use crate::calculus::dual::dual_batch_vector::DualBatchVector;