https://github.com/strasdat/Sophus

C++ implementation of Lie Groups using Eigen.
https://github.com/strasdat/Sophus

2d 3d c-plus-plus computer-vision geometry graphics math python robotics

Last synced: about 2 months ago
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C++ implementation of Lie Groups using Eigen.

• Host: GitHub
• URL: https://github.com/strasdat/Sophus
• Owner: strasdat
• License: other
• Created: 2011-12-06T16:48:30.000Z (over 12 years ago)
• Default Branch: main-1.x
• Last Pushed: 2024-04-15T15:05:55.000Z (2 months ago)
• Last Synced: 2024-04-24T07:27:32.899Z (about 2 months ago)
• Topics: 2d, 3d, c-plus-plus, computer-vision, geometry, graphics, math, python, robotics
• Language: C++
• Homepage:
• Size: 263 MB
• Stars: 1,906
• Watchers: 79
• Forks: 571
• Open Issues: 31
• Metadata Files:
  • Readme: README.rst
  • License: LICENSE.txt

Lists

• Awesome-SLAM - Sophus
• awesome-visual-slam - Sophus
• awesome-robotics-libraries - [github
• awesome-robotics - Sophus - C++ implementation of Lie Groups which are for 3D Geometry, using Eigen. (Uncategorized / Uncategorized)
• awesome-robotics-libraries - [github
• awesome-learning - Sophus - A C++ implementation of Lie groups basic on Eigen, commonly used for 2d and 3d geometric problems. (Basic theory)
• my-awesome-list - Sophus - C++ implementation of Lie Groups using Eigen. (Projects / Computer Vision & Robotics)
• awesome-stars - Sophus - C++ implementation of Lie Groups using Eigen. (C++)
• awesome-android-cpp - strasdat/Sophus - C++ implementation of Lie Groups using Eigen. (TODO scan for Android support in followings)

README

        
|GithubCICpp|_ windows: |AppVeyor|_ |GithubCISympy|_ |ci_cov|_

Sophus

======

Overview

--------

This is a c++ implementation of Lie groups commonly used for 2d and 3d

geometric problems (i.e. for Computer Vision or Robotics applications).

Among others, this package includes the special orthogonal groups SO(2) and

SO(3) to present rotations in 2d and 3d as well as the special Euclidean group

SE(2) and SE(3) to represent rigid body transformations (i.e. rotations and

translations) in 2d and 3d.

API documentation: https://strasdat.github.io/Sophus/

Cross platform support

----------------------

Sophus compiles with clang and gcc on Linux and OS X as well as msvc on Windows.

The specific compiler and operating system versions which are supported are

the ones which are used in the Continuous Integration (CI): See GitHubCI_ and

AppVeyor_ for details.

However, it should work (with no to minor modification) on many other

modern configurations as long they support c++14, CMake, Eigen 3.3.X and

(optionally) fmt. The fmt dependency can be eliminated by passing

"-DUSE_BASIC_LOGGING=ON" to cmake when configuring Sophus.

.. _GitHubCI: https://github.com/strasdat/Sophus/actions

.. |AppVeyor| image:: https://ci.appveyor.com/api/projects/status/um4285lwhs8ci7pt/branch/master?svg=true

.. _AppVeyor: https://ci.appveyor.com/project/strasdat/sophus/branch/master

.. |ci_cov| image:: https://coveralls.io/repos/github/strasdat/Sophus/badge.svg?branch=master

.. _ci_cov: https://coveralls.io/github/strasdat/Sophus?branch=master

.. |GithubCICpp| image:: https://github.com/strasdat/Sophus/actions/workflows/main.yml/badge.svg?branch=master

.. _GithubCICpp: https://github.com/strasdat/Sophus/actions/workflows/main.yml?query=branch%3Amaster

.. |GithubCISympy| image:: https://github.com/strasdat/Sophus/actions/workflows/sympy.yml/badge.svg?branch=master

.. _GithubCISympy: https://github.com/strasdat/Sophus/actions/workflows/sympy.yml?query=branch%3Amaster