Some extensions to make ceres solver work a little better with Eigen
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README.md
ceres_extensions.h

README.md

ceres_extensions

Some extensions to make ceres solver work a little better with Eigen.

This includes:

  • Eigen Quaternion parameterizations
  • Eigen Quaternion rotations
  • Eigen Quaternion multiplications

To use the extensions just reference ceres_ext namespace and append the normal name with Eigen.

ie:

ceres::QuaternionParameterization becomes ceres_ext::EigenQuaternionParameterization

I might consider creating a pull request against ceres solver but I am too lazy to do it now.