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ceres-solver / ceres-solver / 370631f01f71db36b580e5a65790b2a8d9559821
commit370631f01f71db36b580e5a65790b2a8d9559821[log] [tgz]
authorSergiu Deitsch <sergiu.deitsch@gmail.com>Sun Jun 08 20:39:36 2025 +0200
committerSergiu Deitsch <sergiu.deitsch@gmail.com>Fri Jun 13 16:23:24 2025 -0700
treed592d13b1a162bc1057a4f8c31ab4d5535e8291b
parent968f928907d421b267a10ec8ea837a80e421ff18 [diff]
Use Euler parameters in QuaternionPlusImpl

Define the relation between the axis-angle representation of a rotation
and the corresponding unit quaternion as

  q(๐ž) = cos(๐œƒ/2) + sin(๐œƒ/2)/๐œƒยท๐ž

where ๐ž = ๐œƒ๐›š is the rotation vector given by the rotation angle ๐œƒ and
the unit axis of rotation ๐›š instead of

  q(๐ž) = cos(๐œƒ) + sin(๐œƒ)/๐œƒยท๐ž .

This brings the former relation closer to the available functionality
provided by ceres/rotation.h.

Fixes #941

Change-Id: Id40c065f78593887ecc52e67a068737d7eb5bda6
4 files changed
tree: d592d13b1a162bc1057a4f8c31ab4d5535e8291b
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. scripts/
  11. third_party/
  12. .clang-format
  13. .gitignore
  14. .gitmodules
  15. .readthedocs.yaml
  16. BUILD
  17. CITATION.cff
  18. CMakeLists.txt
  19. CONTRIBUTING.md
  20. LICENSE
  21. MODULE.bazel
  22. package.xml
  23. README.md
  24. WORKSPACE
README.md

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Ceres Solver

Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.

  1. Non-linear Least Squares problems with bounds constraints.
  2. General unconstrained optimization problems.

Please see ceres-solver.org for more information.