tiny-solver 0.3.4

Factor graph solver

tiny-solver-rs

Warning! This project is still under development.

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
• loss function (Huber)

TODO

• LevenbergMarquardtOptimizer
• information matrix
• factor in python

Usage

Under development.

Example

M3500 dataset

git clone https://github.com/powei-lin/tiny-solver-rs.git
cd tiny-solver-rs

# run rust version
cargo run -r --example m3500_benchmar

# run python version
pip install tiny-solver matplotlib
python3 examples/python/m3500.py