To find good weights, ceres::ResidualBlockId can be used to store the IDs to each added residual blocks. Then, one can use ceres::Problem::EvaluateOptions and ceres::Problem::Evaluate(...) to retrieve the values of each individual term. We don't do that in the example for simplicity reasons. But we should perhaps still provide adequate example weights.
To find good weights,
ceres::ResidualBlockIdcan be used to store the IDs to each added residual blocks. Then, one can useceres::Problem::EvaluateOptionsandceres::Problem::Evaluate(...)to retrieve the values of each individual term. We don't do that in the example for simplicity reasons. But we should perhaps still provide adequate example weights.