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Ceres Solver

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Ceres Solver (www.ceres-solver.org) is an open source C++ library for modeling and solving large, complicated optimization problems. It can be used to solve Non-linear Least Squares problems with bounds constraints and general unconstrained optimization problems. It is a mature, feature rich, and performant library that has been used in production at Google since 2010.

This is the mailing list for discussion, bug reports etc.

0 selected

phreak...@gmail.com, … Parker Lusk12

Apr 15

maintaining versus rebuilding a ceres Problem

Evan Levine also has some good resources for marginalization with ceres code: https://github.com/

unread,

maintaining versus rebuilding a ceres Problem

Evan Levine also has some good resources for marginalization with ceres code: https://github.com/

Apr 15

Zhian Guo, Sameer Agarwal6

Mar 11

AddResidualBlock and DynamicCostFunction::Evaluate

Yes On Tue, Mar 11, 2025, 6:59 PM Zhian Guo <zhia...@gmail.com> wrote: Ok thanks. In the

unread,

AddResidualBlock and DynamicCostFunction::Evaluate

Yes On Tue, Mar 11, 2025, 6:59 PM Zhian Guo <zhia...@gmail.com> wrote: Ok thanks. In the

Mar 11

Jan 31

Pose graph 2d problem enforcing straight trajectory

I am working on a 2D pose graph optimization problem where each pose has x,y, and yaw parameters. The

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Pose graph 2d problem enforcing straight trajectory

I am working on a 2D pose graph optimization problem where each pose has x,y, and yaw parameters. The

Jan 31

Evan Zalys, … Sameer Agarwal6

Jan 24

Problems calculating autodiff gradient

Sorry for the double reply but it appears as if I've resolved the problem by making options.

unread,

Problems calculating autodiff gradient

Sorry for the double reply but it appears as if I've resolved the problem by making options.

Jan 24

Aafaq Inamdar, Sameer Agarwal2

Jan 10

Question: How to enforce fixed wand length constraint in bundle adjustment using Ceres Solver?

what is wand based camera calibration? can you describe it some more detail? On Thu, Jan 9, 2025 at 1

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Question: How to enforce fixed wand length constraint in bundle adjustment using Ceres Solver?

what is wand based camera calibration? can you describe it some more detail? On Thu, Jan 9, 2025 at 1

Jan 10

Aditya Gadre, Sameer Agarwal2

Jan 4

Ceres solver crash in general unconstrained minimization

This should not happen. I thought we had a guard against this sort of thing. It would be good to have

unread,

Ceres solver crash in general unconstrained minimization

This should not happen. I thought we had a guard against this sort of thing. It would be good to have

Jan 4

James Bruce, Sameer Agarwal2

12/31/24

ceres-solver 3.0 RC blockers?

Hi James, Sorry for the late reply, I am traveling. Sergiu and I were planning on finishing these

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ceres-solver 3.0 RC blockers?

Hi James, Sorry for the late reply, I am traveling. Sergiu and I were planning on finishing these

12/31/24

Anatoly Ryabchenko, Sameer Agarwal3

12/19/24

Ceres solver crashes the app, after throwing "Check failed: step_quality > 0.0..." error

Sorry for late reply I have resolved the problem. There were 2 unrelated problems: 1. The numerical

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Ceres solver crashes the app, after throwing "Check failed: step_quality > 0.0..." error

Sorry for late reply I have resolved the problem. There were 2 unrelated problems: 1. The numerical

12/19/24

Nikolaus Demmel, … Sameer Agarwal37

12/13/24

multithreading support for large BA problems

Hi Dmirtriy, Nice to hear from you and I hope you are doing well. Lets talk about moving the

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multithreading support for large BA problems

Hi Dmirtriy, Nice to hear from you and I hope you are doing well. Lets talk about moving the

12/13/24

Kip Warner, Sameer Agarwal5

12/2/24

ceres::AutoDiffCostFunction template instantiation chokes gcc

On Mon, 2024-12-02 at 11:11 -0800, 'Sameer Agarwal' via Ceres Solver wrote: > It's

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ceres::AutoDiffCostFunction template instantiation chokes gcc

On Mon, 2024-12-02 at 11:11 -0800, 'Sameer Agarwal' via Ceres Solver wrote: > It's

12/2/24

9/28/24

Build issues at HEAD

Hi Folks, As we made the transition to using absl in Ceres Solver, the build and install process went

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Build issues at HEAD

Hi Folks, As we made the transition to using absl in Ceres Solver, the build and install process went

9/28/24

Paul-Edouard Sarlin, Sameer Agarwal4

9/26/24

Weighted cost function wrapper

Nice bit of template meta programming. Two comments. 1. WeightedCostFunction is really

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Weighted cost function wrapper

Nice bit of template meta programming. Two comments. 1. WeightedCostFunction is really

9/26/24

raf...@dotproduct3d.com, Sameer Agarwal2

9/26/24

Run multiple ceres::Solve() in parallel

Yes. On Thu, Sep 26, 2024, 2:37 AM raf...@dotproduct3d.com <raf...@dotproduct3d.com> wrote:

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Run multiple ceres::Solve() in parallel

Yes. On Thu, Sep 26, 2024, 2:37 AM raf...@dotproduct3d.com <raf...@dotproduct3d.com> wrote:

9/26/24

Kip Warner, … Sameer Agarwal38

9/24/24

Correct usage for triplet loss / non-metric multidimensional scaling problem

On Tue, 2024-09-24 at 10:05 -0700, Sameer Agarwal wrote: > Gradient checking is based on numerical

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Correct usage for triplet loss / non-metric multidimensional scaling problem

On Tue, 2024-09-24 at 10:05 -0700, Sameer Agarwal wrote: > Gradient checking is based on numerical

9/24/24

Shengkai Guo, Sameer Agarwal2

9/13/24

How to Access Variable Values After Each Iteration in Ceres?

http://ceres-solver.org/nnls_solving.html#_CPPv4N5ceres6Solver7Options28update_state_every_iterationE

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How to Access Variable Values After Each Iteration in Ceres?

http://ceres-solver.org/nnls_solving.html#_CPPv4N5ceres6Solver7Options28update_state_every_iterationE

9/13/24

Sameer Agarwal, … enrique.fern...@gmail.com8

9/13/24

Mixed Precision Support for SuiteSparse

Thanks, I'd look into that. It'd take me some time to report my findings. On Friday,

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Mixed Precision Support for SuiteSparse

Thanks, I'd look into that. It'd take me some time to report my findings. On Friday,

9/13/24

Igor, … Sameer Agarwal5

9/4/24

Classic BA: How good is good enough? (Initial camera positions)

Igor, I am pointing out a much simpler problem with your code. Let us assume that your dataset has

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Classic BA: How good is good enough? (Initial camera positions)

Igor, I am pointing out a much simpler problem with your code. Let us assume that your dataset has

9/4/24

Suneel Kumar, Sameer Agarwal5

9/4/24

How to add perturbations when the loss function is stuck at gradient zero

Sorry this dropped off my radar. Your residual is the cross product of two vectors, while it is the

unread,

How to add perturbations when the loss function is stuck at gradient zero

Sorry this dropped off my radar. Your residual is the cross product of two vectors, while it is the

9/4/24

Roger Labbe, Sameer Agarwal3

7/28/24

Dealing with jet numbers, cost functions with EvaluationCallback

oops I meant to paste https://github.com/ceres-solver/ceres-solver/blob/master/include/ceres/

unread,

Dealing with jet numbers, cost functions with EvaluationCallback

oops I meant to paste https://github.com/ceres-solver/ceres-solver/blob/master/include/ceres/

7/28/24

raf...@dotproduct3d.com, … Sameer Agarwal4

7/27/24

Reusing LossFunction instances for AddResidualBlock()

Yes. On Sat, Jul 27, 2024, 2:47 AM raf...@dotproduct3d.com <raf...@dotproduct3d.com> wrote:

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Reusing LossFunction instances for AddResidualBlock()

Yes. On Sat, Jul 27, 2024, 2:47 AM raf...@dotproduct3d.com <raf...@dotproduct3d.com> wrote:

7/27/24

Rasmus, Sameer Agarwal8

7/23/24

Why does setting parameter bounds destroy this optimization?

Thank you. On Tue, Jul 23, 2024, 8:02 AM Rasmus <rasmusdie...@gmail.com> wrote: After

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Why does setting parameter bounds destroy this optimization?

Thank you. On Tue, Jul 23, 2024, 8:02 AM Rasmus <rasmusdie...@gmail.com> wrote: After

7/23/24

raf...@dotproduct3d.com, Sameer Agarwal16

7/22/24

Error in CostFunction Documentation?

For future readers: I was made aware of this thread on github, which nails it: https://github.com/

unread,

Error in CostFunction Documentation?

For future readers: I was made aware of this thread on github, which nails it: https://github.com/

7/22/24

raf...@dotproduct3d.com, Sameer Agarwal3

7/21/24

Flagging outlier observations

Got it, thanks! On Sunday, July 21, 2024 at 7:04:03 PM UTC+2 sameer...@google.com wrote: There is no

unread,

Flagging outlier observations

Got it, thanks! On Sunday, July 21, 2024 at 7:04:03 PM UTC+2 sameer...@google.com wrote: There is no

7/21/24

raf...@dotproduct3d.com2

7/21/24

SE(3) Pose Manifolds Jacobians

Actually, this thread answered my question perfectly: https://groups.google.com/g/ceres-solver/c/

unread,

SE(3) Pose Manifolds Jacobians

Actually, this thread answered my question perfectly: https://groups.google.com/g/ceres-solver/c/

7/21/24

7/10/24

Sparse Solver support on Nvidia GPUs

Hi Folks, Mark Shachkov (with some help from our friends at nvidia) has just committed support for

unread,

Sparse Solver support on Nvidia GPUs

Hi Folks, Mark Shachkov (with some help from our friends at nvidia) has just committed support for

7/10/24

Young Ho Shin, Sameer Agarwal4

6/9/24

EvaluationCallback with AutoDiffCostFunction?

Sorry for the late reply. Your computation is of the form f1 + g, f2 + g, f3 + g, where g is the

unread,

EvaluationCallback with AutoDiffCostFunction?

Sorry for the late reply. Your computation is of the form f1 + g, f2 + g, f3 + g, where g is the

6/9/24

Praharsh Suryadevara, Sameer Agarwal2

6/7/24

Unconstrained optimization with trust newton

I am sorry but that is not possible. On Fri, Jun 7, 2024, 11:42 AM Praharsh Suryadevara <

unread,

Unconstrained optimization with trust newton

I am sorry but that is not possible. On Fri, Jun 7, 2024, 11:42 AM Praharsh Suryadevara <

6/7/24

Goksan Isil (Alumni), … Dmitriy Korchemkin4

6/4/24

Handeye calibration

I've been using the matrix inverse explicitly. On Friday, May 31, 2024 at 6:49:36 AM UTC+2

unread,

Handeye calibration

I've been using the matrix inverse explicitly. On Friday, May 31, 2024 at 6:49:36 AM UTC+2

6/4/24

Giorgio, Sameer Agarwal5

5/27/24

Multiple EvaluationCallbacks?

The simplest thing would be to wrap your computation inside a costfunction and check it. On Mon, May

unread,

Multiple EvaluationCallbacks?

The simplest thing would be to wrap your computation inside a costfunction and check it. On Mon, May

5/27/24

Ankor, Sameer Agarwal2

5/6/24

Premade factor library?

Gtsam perhaps? On Sun, May 5, 2024, 11:53 PM Ankor <lowel...@gmail.com> wrote: Hello, Is

unread,

Premade factor library?

Gtsam perhaps? On Sun, May 5, 2024, 11:53 PM Ankor <lowel...@gmail.com> wrote: Hello, Is

5/6/24

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