strasdat/Sophus

Health v2 · maintenance only

Flags: no_license

Adoption not part of the score

2447 stars · 671 forks observed · 2026-08-28

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

Sophus is a C++ template library implementing 2D and 3D Lie groups (SO(2), SO(3), SE(2), SE(3)) built on top of Eigen, commonly used for geometric computations in computer vision and robotics. It also offers Python bindings via pybind11 and is now in maintenance mode with successor projects (sophus2, sophus-rs) under development.

Use cases

• represent 3D rotations and rigid body transformations in SLAM pipelines
• compute SE(3) poses for camera extrinsics in computer vision
• perform Lie group algebra for robot state estimation
• interpolate and differentiate rotations for trajectory optimization
• use SO(3)/SE(3) types in visual odometry or bundle adjustment code
• prototype geometric algorithms in Python via pybind11 bindings

When to choose

• you need well-tested C++ Lie group implementations integrated with Eigen
• you work on robotics, SLAM, or computer vision problems involving rotations and rigid transforms
• you want a header-only library with mature, widely adopted SO(2)/SO(3)/SE(2)/SE(3) support

When to avoid

• you need new features or active development - the project is in maintenance mode
• you want camera models, splines, or nonlinear least squares - look at sophus2 or sophus-rs instead
• you need guaranteed Windows CI support or a permissive license (license is non-standard)

Facets

library · maturity maintenance

math graphics simulation computer-vision robotics graphics mathematics cpp windows python lie-groups eigen geometry so3 se3 rotations rigid-body-transformations slam header-only algorithms linux macos

Member repositories

For agents

markdown · JSON · MCP: product_card(name="strasdat/Sophus")