Crate apex_solver 

Apex Solver

A comprehensive Rust library for nonlinear least squares optimization, specifically designed for computer vision applications such as bundle adjustment, graph-based pose optimization, and SLAM.

Features

• Multiple Optimization Algorithms: Gauss-Newton, Levenberg-Marquardt, and Dog Leg solvers
• Flexible Linear Algebra Backend: Support for both Sparse Cholesky and Sparse QR decomposition
• Configurable Solver System: Easy-to-use configuration system for algorithm and backend selection
• High Performance: Built on the faer linear algebra library for optimal performance
• Comprehensive Testing: Extensive test suite ensuring correctness and reliability

Solver Types

• Gauss-Newton: Fast convergence for well-conditioned problems
• Levenberg-Marquardt: Robust algorithm with adaptive damping
• Dog Leg: Trust region method combining Gauss-Newton and steepest descent

Linear Algebra Backends

• Sparse Cholesky: Efficient for positive definite systems
• Sparse QR: More robust for rank-deficient or ill-conditioned systems

Re-exports

pub use core::variable::Variable;

pub use error::ApexError;

pub use error::ApexResult;

pub use factors::BetweenFactorSE2;

pub use factors::BetweenFactorSE3;

pub use factors::DoubleSphereProjectionFactor;

pub use factors::EucmProjectionFactor;

pub use factors::Factor;

pub use factors::KannalaBrandtProjectionFactor;

pub use factors::PriorFactor;

pub use factors::RadTanProjectionFactor;

pub use factors::UcmProjectionFactor;

pub use linalg::LinearSolverType;

pub use linalg::SparseCholeskySolver;

pub use linalg::SparseLinearSolver;

pub use linalg::SparseQRSolver;

pub use optimizer::LevenbergMarquardt;

pub use optimizer::OptimizerType;

pub use optimizer::Solver;

pub use optimizer::levenberg_marquardt::LevenbergMarquardtConfig;

Modules

core

Core optimization components for the apex-solver library

error

Error types for the apex-solver library

factors

Factor implementations for graph-based optimization problems.

io

linalg

manifold

Manifold representations for optimization on non-Euclidean spaces.

optimizer

Optimization solvers for nonlinear least squares problems.