I used the autodiff in Ceres in the past (http://ceres-solver.org/automatic_derivatives.html http://ceres-solver.org/automatic_derivatives.html), but Autodiff (

I used the autodiff in Ceres in the past (http://ceres-solver.org/automatic_derivatives.html http://ceres-solver.org/automatic_derivatives.html), but Autodiff (https://autodiff.github.io/ https://autodiff.github.io/) also looks pretty good.