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.. 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}",
}
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