kornia-slam 0.1.0

Real-time visual-inertial SLAM in Rust, built on kornia-rs.
Documentation 
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//! Pose estimation used by frame-to-map tracking.

pub mod map_projection;
pub mod pnp;

use kornia_3d::pose::Pose3d;

pub use map_projection::MapProjectionEstimator;

/// Successful pose estimate returned by any estimator.
#[derive(Debug, Clone)]
pub struct Estimate {
    /// Estimated world-to-camera pose.
    pub pose: Pose3d,
    /// Matched pairs `(map_point_idx, keypoint_idx)`.
    pub matches: Vec<(usize, usize)>,
    /// Number of inlier correspondences supporting the estimate.
    pub inliers: usize,
}