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A portable C++ library that allows for modeling and solving large complicated nonlinear least squares problems

  - 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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