Ceres Solver

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.

Please see the manual for a tutorial introduction and further details.