Sophus

Why we included this project

Sophus gives C++ projects a dependable way to handle rotations and rigid-body transforms without hand-rolling the math. It implements the SO(2), SO(3), SE(2), and SE(3) Lie groups on top of Eigen, with header-only classes that compose poses, transform points, and map between Lie algebras and groups during optimization. That makes it a common building block in visual SLAM, structure-from-motion, bundle adjustment, visual odometry, and camera calibration code, where the Jacobians and perturbation conventions are already worked out. The original library is now in maintenance mode, so think of it as a stable, battle-tested dependency rather than something adding new features; the follow-up work is happening in the sophus2 rewrite and a Rust port.