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cu_vslam_rs

Rust FFI for NVIDIA cuVSLAM visual odometry: raw bindings in cu_vslam_rs::ffi plus a safe Tracker wrapper. The repository also vendors a cuVSLAM v17.0.0 fork (cuvslam/) and a nix flake that packages a cuVSLAM SDK per platform — including macOS on Apple silicon via CuMetal.

Layout

Path	What it is	License
`src/`, `shim/`, `build.rs`	The `cu_vslam_rs` crate: extern-C shim over `cuvslam2.h`, raw `ffi` bindings, safe `Tracker`	Apache-2.0
`cuvslam/`	Fork of nvidia-isaac/cuVSLAM v17.0.0 with odometry-state serialization, macOS/CuMetal build support, and a deterministic VO RANSAC seed	NVIDIA Community License (see `cuvslam/LICENSE`)
`flake.nix`	Per-platform SDK packages + the crate	—

Only the crate (src/, shim/, build.rs) is published to crates.io; the vendored fork and flake are repo-only.

Using the crate

[dependencies]
cu_vslam_rs = "0.1"

Building needs CUVSLAM_SDK_DIR pointing at an SDK layout:

$CUVSLAM_SDK_DIR/
  include/cuvslam/cuvslam2.h
  lib/libcuvslam.so        # or .dylib on macOS

build.rs compiles the shim against include/, links libcuvslam, and embeds lib/ as an rpath.

use cu_vslam_rs::{CameraParams, ImageRef, Tracker, ffi};

let mut tracker = Tracker::new(&cameras, imu_calibration.as_ref(), &config)?;
let estimate = tracker.track(&images, &depths)?;
if let Some((world_from_rig, covariance)) = estimate.world_from_rig {
    // pose is valid; None while tracking is lost
}

Getting an SDK via the flake

# The default variant for your machine (metal on Apple silicon, cuda12 on x86_64-linux):
nix build github:jeff-hykin/cu_vslam_rs
export CUVSLAM_SDK_DIR=$PWD/result

# Or a specific variant:
nix build github:jeff-hykin/cu_vslam_rs#sdk-x86_64-cuda12   # built from cuvslam/, sm_89 + sm_120
nix build github:jeff-hykin/cu_vslam_rs#sdk-x86_64-cuda13   # NVIDIA prebuilt tarball
nix build github:jeff-hykin/cu_vslam_rs#sdk-orin            # built from cuvslam/, sm_87
nix build github:jeff-hykin/cu_vslam_rs#sdk-thor            # NVIDIA prebuilt tarball
nix build github:jeff-hykin/cu_vslam_rs#sdk-metal           # macOS Apple silicon, CuMetal

# Dev shell with CUVSLAM_SDK_DIR already set:
nix develop github:jeff-hykin/cu_vslam_rs
cargo build

Flakes that consume this one can take it as an input and use cu-vslam-rs.packages.${system}."sdk-<variant>" as CUVSLAM_SDK_DIR for their own Rust builds.

x86_64-cuda12 and orin are compiled from cuvslam/ in a sandboxed nix build (ENFORCE_GPU=OFF, so CPU/GPU is a runtime switch). thor uses NVIDIA's prebuilt tarball. metal uses a CuMetal build of cuvslam/ hosted as a release artifact (ENFORCE_GPU=ON; the Metal path is the only backend).

macOS via CuMetal

NVIDIA ships no macOS build. The metal SDK is cuvslam/ compiled for Apple silicon with CuMetal, which maps the CUDA runtime and kernels onto Metal. The archive carries libcumetal.dylib and a prewarmed share/cumetal-cache of compiled metallibs; set CUMETAL_PREBUILT_CACHE_DIR to that directory so CuMetal can use the read-only store path as its lookup cache. Build scripts live at cuvslam/cmake/CuMetal.cmake and cuvslam/scripts/package_cpp_dist_macos.sh.

Determinism

Upstream cuVSLAM seeds its visual-odometry RANSAC from std::random_device, so identical input produces slightly different trajectories run-to-run (~0.2 m rmse spread observed). This fork seeds it with a fixed constant (cuvslam/libs/math/ransac.h), matching the seed(0) that upstream's own SLAM reproduce_mode uses, making VO deterministic on the CPU and CuMetal paths.

License

The crate (everything outside cuvslam/) is Apache-2.0. The vendored cuvslam/ fork remains under the NVIDIA Community License; binaries built from it must ship with cuvslam/LICENSE (the flake's SDK packages install it to share/cuvslam/).