Merge pull request #22 from rpl-cmu/easton/examples

Examples

Author: contagon

.github/workflows/ci.yml

@@ -49,7 +49,7 @@ jobs:
     - name: default
       run: cargo test 
     - name: serde
-      run: cargo test --features="serde,serde_json"
+      run: cargo test --features serde
     - name: f32
       run: cargo test --features f32
     - name: left

Cargo.lock

@@ -10,6 +10,7 @@ repository = "https://github.com/rpl-cmu/factrs"
 keywords = ["nonlinear", "optimization", "robotics", "estimation", "SLAM"]
 categories = ["science::robotics", "mathematics"]
 rust-version = "1.81"
+exclude = ["examples/data/*"]
 
 [workspace]
 members = ["factrs-proc"]
@@ -19,8 +20,7 @@ exclude = ["factrs-typetag"]
 rustdoc-args = ["--html-in-header", "assets/katex-header.html"]
 
 [dependencies]
-# base
-ahash = "0.8.11"
+foldhash = "0.1.3"
 paste = "1.0.15"
 downcast-rs = "1.2.1"
 log = "0.4.22"
@@ -40,7 +40,6 @@ matrixcompare = { version = "0.3" }
 # serialization
 serde = { version = "1.0.214", optional = true }
 typetag = { version = "0.2.18", optional = true, path = "./factrs-typetag" }
-serde_json = { version = "1.0.132", optional = true }
 
 # rerun support
 rerun = { version = "0.20", optional = true, default-features = false, features = [
@@ -66,11 +65,7 @@ serde = [
     "dep:typetag",
     "factrs-proc/serde",
     "nalgebra/serde-serialize",
-    "faer/serde",
-    "ahash/serde",
 ]
-# just used for examples
-serde_json = ["dep:serde_json"]
 
 # Support for conversion to rerun variable types
 rerun = ["dep:rerun"]
@@ -79,14 +74,8 @@ rerun = ["dep:rerun"]
 matrixcompare = "0.3.0"
 pretty_env_logger = "0.5"
 nalgebra = { version = "0.33.2", features = ["compare"] }
-
-[[example]]
-name = "g2o"
-
-[[example]]
-name = "g2o-rerun"
-required-features = ["rerun"]
+serde_json = { version = "1.0.132" }
 
 [[example]]
 name = "serde"
-required-features = ["serde", "serde_json"]
+required-features = ["serde"]

Cargo.toml

@@ -20,7 +20,25 @@ Currently, it supports the following features
 
 We recommend you checkout the [docs](https://docs.rs/factrs/latest/factrs/) for more info.
 
-# Example
+# Examples
+There's a number of examples found in the [examples](/examples/) folder, including loading g20 files, serialization, and custom factors.
+
+To run any of the examples, simply clone this repository and run,
+```bash
+cargo run --release --example g20 ./examples/data/M3500.g20
+```
+to visualize the optimization steps with [rerun](https://rerun.io) simply add `--features rerun` to the above command.
+
+Running the other examples can be done similarly,
+```bash
+cargo run --release --example serde --features serde
+cargo run --release --example gps
+``` 
+
+Additionally, we recommend checking out the [tests](/tests/) folder for more examples of custom noise models, residuals, robust kernels, and variables.
+
+<details>
+<summary>Full Example</summary>
 
 ```rust
 use factrs::{
@@ -55,7 +73,7 @@ graph.add_factor(factor);
 let res = BetweenResidual::new(y.minus(&x));
 let robust = Huber::default();
 let factor = fac![res, (X(0), X(1)), 0.1 as std, robust];
-// The same as above, but verbose
+// fac! is syntactic sugar for the following
 // let noise = GaussianNoise::from_scalar_sigma(0.1);
 // let factor = FactorBuilder::new2(res, X(0), X(1))
 //     .noise(noise)
@@ -73,6 +91,8 @@ Simply add via cargo as you do any rust dependency,
 ```bash
 cargo add factrs
 ```
+</details>
+
 
 # Contributions