I wonder if this would benefit from the Ceres Solver released a few days ago? (http://google-opensource.blogspot.com/2012/05/introducing-ceres-solver-nonlinear.

I wonder if this would benefit from the Ceres Solver released a few days ago? (http://google-opensource.blogspot.com/2012/05/introducing-ceres-solver-nonlinear.html http://google-opensource.blogspot.com/2012/05/introducing-ce...)