Factor graph solver
Project description
tiny-solver-rs
Inspired by ceres-solver, tiny-solver, and minisam.
This is a general optimizer written in Rust, including bindings for Python. If you're familiar with ceres-solver or factor-graph optimizers, you'll find it very easy to use.
Installation
python
The python package can be installed directly from PyPI:
pip install tiny-solver
rust
cargo add tiny-solver
Current Features
- Automatic Derivatives using num-dual
- Sparse QR, Sparse Cholesky using faer
- GaussNewtonOptimizer
- Multithreading jacobian
TODO
- LevenbergMarquardtOptimizer
- information matrix
- loss function
- factor in python
Usage
Under development.
Example
python
git clone https://github.com/powei-lin/tiny-solver-rs.git
cd tiny-solver-rs
pip install tiny-solver matplotlib
python3 examples/python/m3500.py
rust
git clone https://github.com/powei-lin/tiny-solver-rs.git
cd tiny-solver-rs
cargo run -r --example m3500_benchmar
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