kornia-slam 0.1.0

Real-time visual-inertial SLAM in Rust, built on kornia-rs.
Documentation 
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//! Mapping: the map itself, plus the algorithms and worker that operate on it.
//!
//! [`map`] owns the stored entities, structural queries, and the canonical
//! mutation and correction operations. Growth, culling, bundle adjustment and
//! scheduling are mapping algorithms layered on top; they read the map
//! immutably and write only through its operations.
//!
//! `keyframe_mapping` coordinates the optional work an accepted keyframe
//! earns — neighbour selection, pair growth, forward fusion — so the system
//! keeps admission, core publication and the tracker/IMU lifecycle.
//!
//! [`vi_ba_schur`] is the visual-inertial solver behind [`bundle_adjustment`].

pub mod bundle_adjustment;
pub mod culling;
pub mod growth;
pub(crate) mod keyframe_mapping;
pub mod local_mapping;
pub mod map;
pub mod vi_ba_schur;

pub use local_mapping::{KeyframeJob, LocalMapping, LocalMappingMode};
pub use map::{Keyframe, Map, MapPoint};