6 releases (breaking)

new 0.8.0 Jul 1, 2024
0.7.0 Jun 22, 2024
0.6.1 Jun 3, 2024
0.6.0 May 27, 2024
0.4.0 Mar 23, 2024

#196 in Machine learning

Download history 153/week @ 2024-03-20 17/week @ 2024-03-27 12/week @ 2024-04-03 130/week @ 2024-04-10 2/week @ 2024-05-15 152/week @ 2024-05-22 184/week @ 2024-05-29 45/week @ 2024-06-05 9/week @ 2024-06-12 112/week @ 2024-06-19 159/week @ 2024-06-26

333 downloads per month
Used in 4 crates

MIT/Apache and LGPL-2.0

11K SLoC


Latest version Documentation

2d and 3d geometry for Computer Vision and Robotics


sophus-rs is a Rust library for 2d and 3d geometry for Computer Vision and Robotics applications. It is a spin-off of the Sophus C++ library which focuses on Lie groups (e.g. rotations and transformations in 2d and 3d).

In addition to Lie groups, sophus-rs also includes other geometric/maths concepts such unit vector, splines, image classes, camera models as well as a other utilities such as a non-linear least squares optimization.


This library is in an early development stage - hence API is highly unstable. It is likely that existing features will be removed or changed in the future.

However, the intend is to stride for correctness, facilitated using a comprehensive test suite.


sophus-rs builds on stable.

sophus = "0.8.0"

To allow for batch types, such as BatchScalarF64, the 'simd' feature is required. This feature depends on portable-simd, which is currently only available on nightly. There are no plans to rely on any other nightly features.

sophus = { version = "0.8.0", features = ["simd"] }


~153K SLoC