# PoseLib/PoseLib

Minimal solvers for calibrated camera pose estimation

Repository: https://github.com/PoseLib/PoseLib
Canonical: https://ross.abutalabs.com/products/poselib
Language: C++
License: BSD-3-Clause
License Family: permissive
Last push: 2026-08-20T11:14:09+00:00

## Health v2 (maintenance only)
Score: 68/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 98, release rhythm 10, longevity 100
- inputs: {"age_days": 2408, "days_push": 13, "days_rel": 386, "gap_med": null, "n_releases_24m": 1}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1203, forks 153 (observed 2026-08-28T04:03:58.604946+00:00)

## What it is
PoseLib is a C++ library of minimal solvers for calibrated camera pose estimation, covering absolute and relative pose from point and line correspondences, homography, and generalized relative pose. It includes robust LO-RANSAC estimators with non-linear refinement and a consistent interface with minimal dependencies (only Eigen), plus Python bindings.

## Use cases
- estimate camera pose from 2D-3D point correspondences
- compute essential or fundamental matrix from image matches
- run RANSAC-based robust pose estimation
- estimate homography between two images
- relative pose from points and monocular depth estimates
- integrate pose solvers into SfM or SLAM pipelines

## When to choose
- you need fast, state-of-the-art minimal solvers for calibrated camera geometry
- you want robust estimators that work out-of-the-box with minimal dependencies
- you need a consistent API across many pose solvers or want to extract a single solver
- you work in C++ or Python on computer vision or robotics projects

## When to avoid
- you need uncalibrated camera pose estimation or full SfM/SLAM systems
- you require GPU-accelerated or deep-learning-based pose estimation
- you need a high-level vision framework rather than a focused solver library

## Facets
- artifact type: library
- maturity: active
- function: computer-vision, math, sdk
- domain: computer-vision, robotics, graphics
- platform: cpp, python, cross-platform, windows
- tags: camera-pose-estimation, ransac, minimal-solvers, epipolar-geometry, sfm, eigen, bundle-adjustment, algorithms, linux, macos

## Member repositories
- PoseLib/PoseLib (main) score 68

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:58.604946+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:19:43.009692+00:00, confidence not recorded.
  - readme: https://github.com/PoseLib/PoseLib (fetched 2026-08-28T04:03:58.604946+00:00, sha ee7543f7a0bf)
- Data as of 2026-08-30T08:39:29.467469+00:00.