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Cortex

Repository Layout

branes-ai/cortex/
├── core/          # Rust Resource Manager (HAL, memory, KPU sync)
│   └── src/
│       ├── lib.rs            # #[cxx::bridge] FFI surface
│       └── memory_provider.rs # SITL-vs-KPU HAL trait
├── math/          # header-only C++20 numerics (branes::math)
│   └── include/branes/math/
├── cv/            # CV front-end primitives (branes::cv)
│   └── include/branes/cv/
├── sdk/           # VIO / SLAM / scene-graph operators (branes::sdk)
│   └── include/branes/sdk/
├── daemons/       # one thin executable per operator (Zenoh + YAML + SDK)
│   └── src/
├── config/        # unified YAML schemas (read by both Rust serde and C++ yaml-cpp)
├── tests/         # Catch2 tests + integration tests
├── docs/          # architecture, ADRs, session logs, plans
├── docs-site/     # this Starlight + Doxygen documentation site
└── CMakeLists.txt # the master build

What lives where

Section titled “What lives where”

  • core/ — the Rust Resource Manager. memory_provider.rs is the SITL-vs-KPU HAL trait; the cxx bridge is defined in core/src/lib.rs under #[cxx::bridge(namespace = "branes::core")]. Expand the HAL here, not in C++.

  • math/include/branes/math/ — header-only numerics: Lie groups (SO3/SE3/Sim3), non-linear least squares (Gauss-Newton, Levenberg-Marquardt), Krylov inner solvers, camera models. First-class support for custom arithmetic — do not hardcode double.

  • cv/include/branes/cv/ — the visual front end: image container + PGM/PNG I/O, Gaussian pyramid, FAST corner detector, pyramidal KLT tracker.

  • sdk/include/branes/sdk/ — the operators: IMU preintegration, feature representations, the MSCKF state machinery, camera updaters, the backends, and the top-level VioEstimator. The 3D-scene-graph backing store (future) must be contiguous arrays indexed by integer node IDs — data-oriented, not pointer-chasing heap nodes.

  • daemons/src/ — one thin executable per operator (vio_daemon.cpp, …). They subscribe to Zenoh, deserialize config, call the SDK, publish results. No algorithm code here.

  • config/ — unified YAML schemas consumed by both Rust (serde, for memory-pool sizing) and C++ (yaml-cpp, parsed once at the daemon entry point into typed POD structs).

Namespaces

Section titled “Namespaces”

Code uses branes:: — branes::math, branes::sdk, branes::cv, branes::core. (Some older prose in the design docs says cortex::; the code is authoritative — it’s branes::.)

The authoritative design record

Section titled “The authoritative design record”

docs/arch/cortex-repo.md is the canonical architecture document. When the code is ambiguous, it wins. This site distills it; that file is the source of truth.