g2o-bindings

Using

To compile: cargo build

To run examples: cargo run --example pose_optimization

Making changes

• g2o/ has the g2o code, including:
  • g2o/CMakeLists.txt -- used to compile the g2o library. You can compile g2o on its own with mkdir build; cd build; cmake ..; make. The rust crate uses the CMakeLists file to build the library as part of the rust crate compilation and bindings generation.
  • g2o/rust/rust_helper.cc and g2o/rust/rust_helper.h -- declare the C++ targets that Rust should have bindings to. If making a change here, need to also change the corresponding functions in src/lib.rs.
• src/lib.rs -- the Rust code that declares the C++ targets for which there are bindings. Should match g2o/rust/rust_helper.cc and g2o/rust/rust_helper.h.
• build.rs -- the compilation instructions to compile g2o, generate bindings, and link. Used automatically by cargo when you run cargo build.
• examples/ has examples for how to use the g2orust crate.