Ceres Solver

Saw this through the Visual SLAM book. Used in production.

http://ceres-solver.org/index.html

Has some really good general foundational knowledge:

• http://ceres-solver.org/nnls_solving.html#levenberg-marquardt

Python bindings:

• https://github.com/cvg/pyceres/blob/main/README.md

Related

• COLMAP

I always think of CERES when I really think of CasADI, which is what prof Yash Pant mentions a lot.