jp6/cu128/: pyceres-2.5 metadata and description
Factor graph optimization with Ceres, in Python
| author_email | Paul-Edouard Sarlin <psarlin@ethz.ch>, Philipp Lindenberger <plindenbe@ethz.ch> |
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| description_content_type | text/markdown |
| license | Apache-2.0 |
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| requires_python | >=3.7 |
Because this project isn't in the mirror_whitelist,
no releases from root/pypi are included.
| File | Tox results | History |
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pyceres-2.5-cp310-cp310-linux_aarch64.whl
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pyceres
This repository provides minimal Python bindings for the Ceres Solver and the implementation of factor graphs for bundle adjustment and pose graph optimization.
Installation
Wheels for Python 8/9/10/11/12 on Linux, macOS 10+ (both Intel and Apple Silicon), and Windows can be installed using pip:
pip install pyceres
To build from source, follow the following steps:
- Install the Ceres Solver following the official instructions.
- Clone the repository and build the package:
git clone https://github.com/cvg/pyceres.git
cd pyceres
python -m pip install .
Alternatively, you can build the Docker image:
docker build -t pyceres -f Dockerfile .
Factor graph optimization
Factors may be defined in Python (see examples/test_python_cost.py) or in C++ with associated Python bindings.
PyCOLMAP provides the following cost functions in pycolmap.cost_functions:
- reprojection error for different camera models, with fixed or variable pose and 3D points
- reprojection error for multi-camera rigs, with fixed or variable rig extrinsics
- error of absolute and relative poses
- Sampson error for epipolar geometry
See examples/ to use these factors.
Credits
Pyceres was inspired by the work of Nikolaus Mitchell for ceres_python_bindings and is maintained by Philipp Lindenberger and Paul-Edouard Sarlin.