Inkyu

Hope this helps! https://github.com/inkyusa/cnn-text-classification-pytorch/commit/6dfefe7ae442d982d010969f4c1a7f1bd3125576

Hello GuillermoHerreraF, It looks quite off in z-direction, and I agree with your opinion that you can tune the submap size and constraint min score for more loop closures. In...

All internal computations expect "double" data type as [input](https://github.com/Edwinem/ceres_python_bindings/blob/d809e7651890c6e4b78c5c40c2f47d6c4aba8525/python_bindings/python_module.cpp#L1140). The author may add some casting into [ParseNumpyData](https://github.com/Edwinem/ceres_python_bindings/blob/d809e7651890c6e4b78c5c40c2f47d6c4aba8525/python_bindings/python_module.cpp#L364). Temporarily, `np_params = np_params.astype(np.float64) if np_params.dtype != np.float32 else np_params` or `np_params =...

As @sarlinpe mentioned, it may be useful to use torch's autograd for some cases. Here is a simple example for curve fitting. https://github.com/inkyusa/pyceres/blob/main/examples/test_curve_fitting_torch_autograd.ipynb Hope this help or useful somehow. Cheers,...