ceres GradientChecker and ceres AutoDiffCostFunction about pyceres HOT 5 OPEN

An AutoDiffCostFunction needs to be defined in C++ because Ceres cannot differentiate Python code. The code that you link is irrelevant - the implementation of the main cost functions was simply move from pyceres to pycolmap to reduce the dependencies of the core pyceres library.

from pyceres.

• GradientChecker is not bound yet but this shouldn't be difficult, you are welcome to contribute it. You would likely need to also bind GradientChecker::ProbeResults and NumericDiffOptions.
• We don't bind AutoDiffCostFunction because Ceres cannot auto-diff through Python code. It is best to perform the auto-diff on the Python side, e.g. with a deep learning framework like PyTorch.

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i saw this from v1.0

We don't bind AutoDiffCostFunction because Ceres cannot auto-diff through Python code.

Thanks!

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And is the geometry of Sophus not going to be suported in Pyceres in the future?

from pyceres.

So far we've been relying on the geometry objects available in COLMAP. We could consider adding support for Sophus objects if there is a need for minimal dependencies within pyceres.

from pyceres.