aslam_optimizer
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ethz-asl
Optimizer classes for aslam_cv, kalibr, aslam_incremental_calibration, ..
We should use this method (from the ceres mailing list). https://groups.google.com/forum/#!msg/ceres-solver/CbpQ32dyvvk/arKGcbjOmqwJ Gim, Here is a not entirely rigorous derivation, but it should get the point across. Let us start with...
Or the other way around : why was it non const in the first place? I can't see the reason. Currently there are const cast because of that in almost...
When adding design variables to the solver which were returned by an expression, one needs to iterate through all of them to make them active. Can we make them active...
Probably this is intentional, I just ran into it while doing some checks. The line is: ``` void set( const Eigen::Vector4d & q){ _q = q; _p_q = q; }...
Once the final stage has been attained, this set of classes needs some polishing. Following points: - replace Optimizer by Optimizer2 - kick out deprecated code, some classes have members...
Develop a good/modular serialization mechanism, e.g. Boost serialization or other custom-made solution.