artivis/manif

Health v2 · maintenance only

Adoption not part of the score

1811 stars · 274 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

manif is a header-only C++11 library for Lie theory with Python 3 wrappers, providing common Lie groups (SO(2), SE(2), SO(3), SE(3), SE_2(3), SGal(3), and composite bundles) with analytic Jacobians. It is designed for state estimation in robotics applications such as SLAM and visual odometry.

Use cases

• compute SE(3) transformations with analytic Jacobians for robotics state estimation
• implement an EKF or filter on Lie groups for SLAM
• work with rotations and rigid motions in C++ or Python
• use Lie group math with Ceres solver for optimization
• learn Lie theory for robotics with a practical library
• manipulate composite manifolds as a single Lie group

When to choose

• you need rigorous Lie group operations with analytic derivatives for estimation or control
• you want a lightweight header-only C++11 dependency with Python bindings
• you work in robotics, SLAM, or computer vision with 2D/3D geometry

When to avoid

• you need Lie groups beyond those provided and cannot contribute them
• you prefer numerical or automatic differentiation over analytic Jacobians
• you need a non-C++11 or non-Python language binding

Facets

library · maturity active

math simulation sdk robotics computer-vision mathematics cpp python cross-platform lie-theory lie-groups header-only state-estimation slam geometry jacobians cpp11 algorithms

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