| .. _chapter-tricks: | |
| =================== | |
| Tips, Tricks & FAQs | |
| =================== | |
| A collection of miscellanous tips, tricks and frequently asked | |
| questions | |
| Derivatives | |
| =========== | |
| The single most important bit of advice for users of Ceres Solver is | |
| to use analytic/automatic differentiation when you can. It is tempting | |
| to take the easy way out and use numeric differentiation. This is a | |
| bad idea. Numeric differentiation is slow, ill-behaved, hard to get | |
| right and results in poor convergence behaviour. |