1 .. Ceres Solver documentation master file, created by 2 sphinx-quickstart on Sat Jan 19 00:07:33 2013. 3 You can adapt this file completely to your liking, but it should at least 4 contain the root `toctree` directive. 5 6 ============ 7 Ceres Solver 8 ============ 9 10 .. toctree:: 11 :maxdepth: 3 12 :hidden: 13 14 features 15 building 16 tutorial 17 modeling 18 solving 19 faqs 20 contributing 21 version_history 22 history 23 bibliography 24 license 25 26 Ceres Solver is an open source C++ library for modeling and solving 27 large complicated `nonlinear least squares`_ problems. It is a feature 28 rich, mature and performant library which has been used in production 29 since 2010. At Google, Ceres Solver is used to: 30 31 * Estimate the pose of `Street View`_ cars, aircrafts, and satellites. 32 * Build 3D models for `PhotoTours`_. 33 * Estimate satellite image sensor characteristics. 34 * Stitch `panoramas`_ or apply `Lens Blur`_ on Android. 35 * Solve `bundle adjustment`_ and SLAM problems in `Project Tango`_. 36 37 Outside Google, Ceres is used for solving problems in computer vision, 38 computer graphics, astronomy and physics. e.g., `Willow Garage`_ uses 39 it to solve SLAM problems and `Blender`_ uses it for for planar 40 tracking and bundle adjustment. 41 42 .. _nonlinear least squares: http://en.wikipedia.org/wiki/Non-linear_least_squares 43 .. _fitting curves: http://en.wikipedia.org/wiki/Nonlinear_regression 44 .. _bundle adjustment: http://en.wikipedia.org/wiki/Structure_from_motion 45 .. _Street View: http://youtu.be/z00ORu4bU-A 46 .. _PhotoTours: http://google-latlong.blogspot.com/2012/04/visit-global-landmarks-with-photo-tours.html 47 .. _panoramas: http://www.google.com/maps/about/contribute/photosphere/ 48 .. _Project Tango: https://www.google.com/atap/projecttango/ 49 .. _Blender: http://mango.blender.org/development/planar-tracking-preview/ 50 .. _Willow Garage: https://www.willowgarage.com/blog/2013/08/09/enabling-robots-see-better-through-improved-camera-calibration 51 .. _Lens Blur: http://googleresearch.blogspot.com/2014/04/lens-blur-in-new-google-camera-app.html 52 53 Getting started 54 --------------- 55 56 * Download the `latest stable release 57 <http://ceres-solver.org/ceres-solver-1.9.0.tar.gz>`_ or clone the 58 Git repository for the latest development version. 59 60 .. code-block:: bash 61 62 git clone https://ceres-solver.googlesource.com/ceres-solver 63 64 * Read the :ref:`chapter-tutorial`, browse the chapters on the 65 :ref:`chapter-modeling` API and the :ref:`chapter-solving` API. 66 * Join the `mailing list 67 <https://groups.google.com/forum/?fromgroups#!forum/ceres-solver>`_ 68 and ask questions. 69 * File bugs, feature requests in the `issue tracker 70 <https://code.google.com/p/ceres-solver/issues/list>`_. 71 72 73 Cite Us 74 ------- 75 If you use Ceres Solver for a publication, please cite it as:: 76 77 @misc{ceres-solver, 78 author = "Sameer Agarwal and Keir Mierle and Others", 79 title = "Ceres Solver", 80 howpublished = "\url{http://ceres-solver.org}", 81 } 82
