81 lines
2.9 KiB
ReStructuredText
81 lines
2.9 KiB
ReStructuredText
.. Ceres Solver documentation master file, created by
|
|
sphinx-quickstart on Sat Jan 19 00:07:33 2013.
|
|
You can adapt this file completely to your liking, but it should at least
|
|
contain the root `toctree` directive.
|
|
|
|
============
|
|
Ceres Solver
|
|
============
|
|
|
|
.. toctree::
|
|
:maxdepth: 3
|
|
:hidden:
|
|
|
|
features
|
|
building
|
|
tutorial
|
|
modeling
|
|
solving
|
|
faqs
|
|
contributing
|
|
version_history
|
|
history
|
|
bibliography
|
|
license
|
|
|
|
Ceres Solver is an open source C++ library for modeling and solving
|
|
large complicated `nonlinear least squares`_ problems. It is a feature
|
|
rich, mature and performant library which has been used in production
|
|
since 2010. At Google, Ceres Solver is used to:
|
|
|
|
* Estimate the pose of `Street View`_ cars, aircrafts, and satellites.
|
|
* Build 3D models for `PhotoTours`_.
|
|
* Estimate satellite image sensor characteristics.
|
|
* Stitch `panoramas`_ or apply `Lens Blur`_ on Android.
|
|
* Solve `bundle adjustment`_ and SLAM problems in `Project Tango`_.
|
|
|
|
Outside Google, Ceres is used for solving problems in computer vision,
|
|
computer graphics, astronomy and physics. e.g., `Willow Garage`_ uses
|
|
it to solve SLAM problems and `Blender`_ uses it for for planar
|
|
tracking and bundle adjustment.
|
|
|
|
.. _nonlinear least squares: http://en.wikipedia.org/wiki/Non-linear_least_squares
|
|
.. _fitting curves: http://en.wikipedia.org/wiki/Nonlinear_regression
|
|
.. _bundle adjustment: http://en.wikipedia.org/wiki/Structure_from_motion
|
|
.. _Street View: http://youtu.be/z00ORu4bU-A
|
|
.. _PhotoTours: http://google-latlong.blogspot.com/2012/04/visit-global-landmarks-with-photo-tours.html
|
|
.. _panoramas: http://www.google.com/maps/about/contribute/photosphere/
|
|
.. _Project Tango: https://www.google.com/atap/projecttango/
|
|
.. _Blender: http://mango.blender.org/development/planar-tracking-preview/
|
|
.. _Willow Garage: https://www.willowgarage.com/blog/2013/08/09/enabling-robots-see-better-through-improved-camera-calibration
|
|
.. _Lens Blur: http://googleresearch.blogspot.com/2014/04/lens-blur-in-new-google-camera-app.html
|
|
|
|
Getting started
|
|
---------------
|
|
|
|
* Download the `latest stable release
|
|
<http://ceres-solver.org/ceres-solver-1.9.0.tar.gz>`_ or clone the
|
|
Git repository for the latest development version.
|
|
|
|
.. code-block:: bash
|
|
|
|
git clone https://ceres-solver.googlesource.com/ceres-solver
|
|
|
|
* Read the :ref:`chapter-tutorial`, browse the chapters on the
|
|
:ref:`chapter-modeling` API and the :ref:`chapter-solving` API.
|
|
* Join the `mailing list
|
|
<https://groups.google.com/forum/?fromgroups#!forum/ceres-solver>`_
|
|
and ask questions.
|
|
* File bugs, feature requests in the `issue tracker
|
|
<https://code.google.com/p/ceres-solver/issues/list>`_.
|
|
|
|
|
|
Cite Us
|
|
-------
|
|
If you use Ceres Solver for a publication, please cite it as::
|
|
|
|
@misc{ceres-solver,
|
|
author = "Sameer Agarwal and Keir Mierle and Others",
|
|
title = "Ceres Solver",
|
|
howpublished = "\url{http://ceres-solver.org}",
|
|
}
|