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 9/10/11/12/13/14 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, Paul-Edouard Sarlin, and Shaohui Liu.
Release files for pyceres 2.6
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Built distributions (wheels)
| File | Reset | |||
|---|---|---|---|---|
| pyceres-2.6-cp314-cp314-win_amd64.whl | CPython 3.14 | CPython 3.14 | Windows x86-64 | Details |
| pyceres-2.6-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.14 | CPython 3.14 | Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 | Details |
| pyceres-2.6-cp314-cp314-macosx_14_0_arm64.whl | CPython 3.14 | CPython 3.14 | macOS 14.0+ ARM64 | Details |
| pyceres-2.6-cp313-cp313-win_amd64.whl | CPython 3.13 | CPython 3.13 | Windows x86-64 | Details |
| pyceres-2.6-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.13 | CPython 3.13 | Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 | Details |
| pyceres-2.6-cp313-cp313-macosx_14_0_arm64.whl | CPython 3.13 | CPython 3.13 | macOS 14.0+ ARM64 | Details |
| pyceres-2.6-cp312-cp312-win_amd64.whl | CPython 3.12 | CPython 3.12 | Windows x86-64 | Details |
| pyceres-2.6-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.12 | CPython 3.12 | Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 | Details |
| pyceres-2.6-cp312-cp312-macosx_14_0_arm64.whl | CPython 3.12 | CPython 3.12 | macOS 14.0+ ARM64 | Details |
| pyceres-2.6-cp311-cp311-win_amd64.whl | CPython 3.11 | CPython 3.11 | Windows x86-64 | Details |
| pyceres-2.6-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.11 | CPython 3.11 | Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 | Details |
| pyceres-2.6-cp311-cp311-macosx_14_0_arm64.whl | CPython 3.11 | CPython 3.11 | macOS 14.0+ ARM64 | Details |
| pyceres-2.6-cp310-cp310-win_amd64.whl | CPython 3.10 | CPython 3.10 | Windows x86-64 | Details |
| pyceres-2.6-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.10 | CPython 3.10 | Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 | Details |
| pyceres-2.6-cp310-cp310-macosx_14_0_arm64.whl | CPython 3.10 | CPython 3.10 | macOS 14.0+ ARM64 | Details |
| pyceres-2.6-cp39-cp39-win_amd64.whl | CPython 3.9 | CPython 3.9 | Windows x86-64 | Details |
| pyceres-2.6-cp39-cp39-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.9 | CPython 3.9 | Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 | Details |
| pyceres-2.6-cp39-cp39-macosx_14_0_arm64.whl | CPython 3.9 | CPython 3.9 | macOS 14.0+ ARM64 | Details |
Total release size: 95.0 MB
Release files / pyceres-2.6-cp314-cp314-win_amd64.whl
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| Download URL | pyceres-2.6-cp39-cp39-macosx_14_0_arm64.whl |
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| Size | 2.4 MB |
| Tags | CPython 3.9 macOS 14.0+ ARM64 |
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