Some extensions to make ceres solver work a little better with Eigen.
This includes:
- Eigen Quaternion parameterizations
- Eigen Quaternion rotations
- Eigen Quaternion multiplications
To use the extensions just reference ceres_ext namespace and append the normal name with Eigen.
ie:
ceres::QuaternionParameterization becomes ceres_ext::EigenQuaternionParameterization
I might consider creating a pull request against ceres solver but I am too lazy to do it now.
