Dmitriy Korchemkin DmitriyKorchemkin

DmitriyKorchemkin / mix_local_parameterizations_bounds.cpp

Last active October 21, 2021 10:14

Mixing local parameterizations and upper/lower bounds in ceres-solver resulting in drifting away from initial manifold

	#include <Eigen/Dense>
	#include <ceres/ceres.h>
	#include <iostream>

	using Vector3d = Eigen::Vector3d;

	struct VectorDiff {
	template <typename T> bool operator()(const T point, T residual) const {
	Eigen::Map<const Eigen::Matrix<T, 3, 1>> map(point);
	Eigen::Map<Eigen::Matrix<T, 3, 1>> res(residual);

DmitriyKorchemkin / example_bicubic.cc

Created September 16, 2021 17:33

Sample for bicubic interpolation and autodiff

	/* Small example of using bicubic interpolation in ceres with autodiff */
	#include <ceres/ceres.h>
	#include <ceres/cubic_interpolation.h>

	#include <cassert>

	using Grid = ceres::Grid2D<double>;
	using Interpolator = ceres::BiCubicInterpolator<Grid>;

	struct Residual {

DmitriyKorchemkin / gpsd_record.sh

Created August 24, 2020 09:11

Simple recording of rinex & raw data using gpsd