This post is a running list of some software projects I want to look into more or have found useful in the paste.

Numerical Programming

Estimation

• Ceres: Framework for large scale nonlinear least squares solving.
• Stan: I haven’t had a chance to work with this yet, but provides more general probabilistic inference tools.

3D Sensing

• Open3d: Library for working with 3D point cloud data sets.

Optimization

• Casadi: Library for optimization problems involving dynamics. Has a solid AD engine and provides good interfaces to nonlinear optimization and ODE solvers.

Libraries

• Eigen: C++ library for linear algebra – amazing.
• GNU MPFR: Multi-precision floating point library with correct rounding (useful for testing accuracy of Taylor expansions)

Software Engineering

• Bazel: The only build system I’ve found that makes sense and isn’t buried in legacy cruft.
• Pybind11: An amazing way to pull C++11 or later code into Python (by comparison SWIG is archaic).

Site Management

• Hugo: Static webpage building software I used for this page.