FAQs, Tips & Tricks

Answers to frequently asked questions, tricks of the trade and general wisdom.

• Modeling
  • Use analytical/automatic derivatives
  • When using Quaternions, consider using QuaternionManifold
  • How do I solve problems with general linear & non-linear inequality constraints with Ceres Solver?
  • How do I solve problems with general linear & non-linear equality constraints with Ceres Solver?
  • How do I set one or more components of a parameter block constant?
• Solving
  • How do I evaluate the Jacobian for a solved problem?
  • How do I choose the right linear solver?
  • Use Solver::Summary::FullReport() to diagnose performance problems