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RainerKuemmerle / g2o

g2o: A General Framework for Graph Optimization
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Is auto diff working now? #599

Open amberwood31 opened 2 years ago

amberwood31 commented 2 years ago

May I know whether the auto differentiation feature working now? The ceres dependency seems to indicate that. But I did some simple test, it seems that numerical jacobian is still the default behavior if I don't define the analytical jacobians.

If the auto differentiation feature is already working, can you kindly advise how to enable it?

sjulier commented 2 years ago

An example using ceres autodiff:

g2o/examples/bal/bal_example.cpp

Not sure if this is what you need.

amberwood31 commented 2 years ago

Thanks! I also found an example in the unit_test folder. Will give it a try.