Skip to content

C++ implementation of Lie Groups using Eigen.

License

Notifications You must be signed in to change notification settings

DasRoteSkelett/Sophus

 
 

Repository files navigation

GithubCICpp_ windows: AppVeyor_ GithubCISympy_ ci_cov_

Sophus

Overview

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

API documentation: https://strasdat.github.io/Sophus/

Cross platform support

Sophus compiles with clang and gcc on Linux and OS X as well as msvc on Windows. The specific compiler and operating system versions which are supported are the ones which are used in the Continuous Integration (CI): See GitHubCI and AppVeyor for details.

However, it should work (with no to minor modification) on many other modern configurations as long they support c++14, CMake, Eigen 3.3.X and (optionally) fmt. The fmt dependency can be eliminated by passing "-DUSE_BASIC_LOGGING=ON" to cmake when configuring Sophus.

About

C++ implementation of Lie Groups using Eigen.

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages

  • C++ 85.0%
  • Python 10.6%
  • CMake 1.9%
  • Jupyter Notebook 1.8%
  • Other 0.7%