Nonlinear least squares problems solver
url: http://code.google.com/p/ceres-solver/ Solving nonlinear least squares problems comes up in a broad range of areas across science and engineering - from fitting curves in statistics, to constructing 3D models from photographs in computer vision. Ceres Solver is a portable C++ library that allows for modeling and solving large complicated nonlinear least squares problems. Features * A friendly API: build your objective function one term at a time. * Automatic differentiation. * Robust loss functions. * Local parameterizations. * Threaded Jacobian evaluators and linear solvers. * Levenberg-Marquardt and Dogleg (Powell & Subspace) solvers. * Dense QR and Cholesky factorization (using Eigen) for small problems. * Sparse Cholesky factorization (using SuiteSparse) for large sparse problems. * Specialized solvers for bundle adjustment problems in computer vision. * Iterative linear solvers for general sparse and bundle adjustment problems. * Runs on Linux, Windows, Mac OS X and Android. An iOS port is underway.
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