Marginalization support?

[Michael]

Hello, I am looking into ceres for state estimation. I was wondering if ceres solver currently has support for sliding window optimization/marginalization of prior factors? From an initial look it doesn't appear to. I understand I could implement the marginalization by hand but I would prefer something complete and already tested.

[Sameer Agarwal]

Sorry but no.

On Tue, Nov 25, 2025, 6:21 PM Michael <lowel...@gmail.com> wrote:

Hello, I am looking into ceres for state estimation. I was wondering if ceres solver currently has support for sliding window optimization/marginalization of prior factors? From an initial look it doesn't appear to. I understand I could implement the marginalization by hand but I would prefer something complete and already tested.

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