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: 28 days 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 (almost 13 years ago)
• Default Branch: main
• Last Pushed: 2024-07-06T18:06:55.000Z (4 months ago)
• Last Synced: 2024-10-15T08:42:38.177Z (28 days ago)
• Topics: 2d, 3d, c-plus-plus, computer-vision, geometry, graphics, math, python, robotics
• Language: C++
• Homepage:
• Size: 255 MB
• Stars: 2,034
• Watchers: 75
• Forks: 594
• Open Issues: 7
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.txt

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README

        




  

















  





 Sophus 




   2d and 3d Lie Groups for Computer Vision and Robotics 



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 isometries also known as rigid body transformations

(i.e. rotations and translations) in 2d and 3d.

## Status

*Sophus (aka Sophus 1) is in maintenance mode. As of June 2024, there is no

plane to add new larger features and future PRs will likely be limited to bug

fixes, small improvements and toolchain updates.*

However, next incarnations of Sophus are under development:

 - sophus2 is the next c++ iteration of Sophus and is a complete rewrite.

   In addition to the Lie groups, it includes a more geometric concepts

   such unit vector, splines, image classes, camera models and more.

   It is currently hosted as part of the [farm-ng-core repository](https://github.com/farm-ng/farm-ng-core/tree/cygnet-dev)

   and has likely only a few community users. While the code itself is in a good shape, there are

   no good build instructions yet. Hopefully, this will change in the near future.

 - sophus-rs is a Rust version of Sophus. Similar to sophus2, it includes a more geometric concepts

   such unit vector, splines, image classes, camera models and more. Also it includes an early and

   experimental version of non-linear least squares optimization library (similar to Ceres, g2o,

   etc.).

   sophus-rs has likely only a few community users so far, but should be easy to build and

   experiment with - of course being written in Rust.

   https://github.com/sophus-vision/sophus-rs

   https://crates.io/crates/sophus

How to build Sophus from source

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

Sophus requires a C++17 compiler (though older versions build with C++14).

Sophus is tested on Linux and macOS. It also worked on Windows in the past, however there is

currently no CI for Windows, so it might require some smaller patches to build on Windows.

There are no comprehensive build instructions but inspecting the install [scripts](scripts/)

as well as the [main.yml](.github/workflows/main.yml) file should give you a good idea how to

build the required dependencies.

Installing Sophus through vcpkg

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

You can build and install Sophus using [vcpkg](https://github.com/Microsoft/vcpkg/) dependency manager::

```

git clone https://github.com/Microsoft/vcpkg.git

cd vcpkg

./bootstrap-vcpkg.sh

./vcpkg integrate install

./vcpkg install sophus

```

The Sophus port in vcpkg is kept up to date by Microsoft team members and community contributors.

If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg)

on the vcpkg repository.