Templated local parametrization for ceres #305
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sergiud
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@sergiud , are there any problems left? I have a Thanks |
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Your PR looks good to me. @strasdat needs to review it. |
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IMHO a second PR would be best (but I don't have any authority here). You could already open it, if you want, and note that it depends on this PR. Thanks for your contribution! This will be very useful. |
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RxSO2::cast/(Rx)SO3::operator*in order to be compatible withceres::JetIn order to work around a corner-case of
SO2::TangentbeingScalar(and notVector<Scalar, 1>), helper traitis_mappable_type_vis introduced (using completeness ofEigen::internal::traits<T>, since just having::Scalartype is not enough, sinceceres::Jethas this type defined, but needs to be considered a scalar). This type trait is only needed for group-agnostic code and end-users do not need to use it.Added also a simple Lie-group averaging example (on a complete graph in order to simplify test data generation).