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meet trouble by using manif with ceres solver #146
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Hi, Have you checked the doc on the wiki pages? This should be more than enough to get you started. |
Hi: I guess, if I want to build a relative motion error between to poses. Cheers. |
Without seeing your code it is difficult to tell. Is it public? Do you have a link? Maybe the |
Hi: class PoseGraph3dErrorTerm { template
} static ceres::CostFunction* Create( EIGEN_MAKE_ALIGNED_OPERATOR_NEW private: and this is the callback function:
} |
Hi:
Great work. I'm working on optimization problem by using manif so I can solve the problem with Lie group.
But when I worked on autodiff in ceres solver by solving SE3 problem, I can't find the answer about write my own cost function while use your local parameterization functor, because I don't know the correct residual size according to your local parameterization functor.
Can you give me a hint or a sample ? It would be helpful.
Cheers.
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