实战案例一
1.1 CmakeLists.txt配置
cmake_minimum_required(VERSION 2.8)
project(ceres)
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
add_executable(test test.cpp)
target_link_libraries(test ${CERES_LIBRARIES})
1.2 示例:ceres入门例子
#include<iostream>
#include<ceres/ceres.h>
using namespace std;
using namespace ceres;
//第一部分:构建代价函数,重载()符号,仿函数的小技巧
struct CostFunctor {
template <typename T>
bool operator()(const T* const x, T* residual) const {
residual[0] = T(10.0) - x[0];
return true;
}
};
//主函数
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[0]);
// 寻优参数x的初始值,为5
double initial_x = 5.0;
double x = initial_x;
// 第二部分:构建寻优问题
Problem problem;
//使用自动求导,将之前的代价函数结构体传入,第一个1是输出维度,即残差的维度,第二个1是输入维度,即待寻优参数x的维度。
CostFunction* cost_function =
new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
//向问题中添加误差项,本问题比较简单,添加一个就行。
problem.AddResidualBlock(cost_function, NULL, &x);
//第三部分: 配置并运行求解器
Solver::Options options;
options.linear_solver_type = ceres::DENSE_QR; //配置增量方程的解法
options.minimizer_progress_to_stdout = true;//输出到cout
Solver::Summary summary;//优化信息
Solve(options, &problem, &summary);//求解!!!
std::cout << summary.BriefReport() << "\n";//输出优化的简要信息
//最终结果
std::cout << "x : " << initial_x << " -> " << x << "\n";
return 0;
}
案例一深入理解:
Part 1: Cost Function
(1)AutoDiffCostFunction(自动求导) - - - - - - - 情况一
- 构造 代价函数结构体(例如:struct CostFunctor),在其结构体内对 模板括号() 重载,定义残差;
- 在重载的 () 函数 形参 中,最后一个为残差,前面几个为待优化状态量;
struct CostFunctor {
template<typename T>
bool operator()(const T *const x, T *residual) const {
residual[0] = T(10.0) - x[0]; // r(x) = 10 - x
return true;
}
};
- 创建代价函数的实例,对于模板参数的数字,第一个为残差的维度,后面几个为待优化状态量的维度
ceres::CostFunction *cost_function;
cost_function = new ceres::AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
(2) NumericDiffCostFunction (数值求导) - - - - - - - 情况二
- 数值求导法 也是构造 代价函数结构体,但在重载 括号
()
时没有用模板
struct CostFunctorNum {
bool operator()(const double *const x, double *residual) const {
residual[0] = 10.0 - x[0]; // r(x) = 10 - x
return true;
}
};
- 并且在实例化代价函数时也稍微有点区别,多了一个模板参数
ceres::CENTRAL
ceres::CostFunction *cost_function;
cost_function =
new ceres::NumericDiffCostFunction<CostFunctorNum, ceres::CENTRAL, 1, 1>(new CostFunctorNum);
(3) 自定义 CostFunction (自己求残差) - - - - - - - 情况三
- 构建一个 继承自 ceres::SizedCostFunction<1,1> 的类,同样,对于模板参数的数字,第一个为残差的维度,后面几个为待优化状态量的维度;
- 重载 虚函数 virtual bool Evaluate(double const* const* parameters, double *residuals, double **jacobians) const,根据 待优化变量,实现 残差和雅克比矩阵的计算;
class SimpleCostFunctor : public ceres::SizedCostFunction<1,1> {
public:
virtual ~SimpleCostFunctor() {};
virtual bool Evaluate(
double const* const* parameters, double *residuals, double** jacobians) const {
const double x = parameters[0][0];
residuals[0] = 10 - x; // r(x) = 10 - x
if(jacobians != NULL && jacobians[0] != NULL) {
jacobians[0][0] = -1; // r'(x) = -1
}
return true;
}
};
Part 2: AddResidualBlock
- 声明
ceres::Problem problem;
- 通过
AddResidualBlock
将 代价函数(cost function)、损失函数(loss function) 和 待优化状态量 添加到problem
ceres::CostFunction *cost_function;
cost_function = new ceres::AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
ceres::Problem problem;
problem.AddResidualBlock(cost_function, NULL, &x);
Part 3: Config & Solve
配置求解器,并计算,输出结果
ceres::Solver::Options options;
options.max_num_iterations = 25;
options.linear_solver_type = ceres::DENSE_QR;
options.minimizer_progress_to_stdout = true;
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);
std::cout << summary.BriefReport() << "\n";
Simple Example Code
#include "ceres/ceres.h"
#include "glog/logging.h"
struct CostFunctor {
template<typename T>
bool operator()(const T *const x, T *residual) const {
residual[0] = 10.0 - x[0]; // f(x) = 10 - x
return true;
}
};
struct CostFunctorNum {
bool operator()(const double *const x, double *residual) const {
residual[0] = 10.0 - x[0]; // f(x) = 10 - x
return true;
}
};
class SimpleCostFunctor : public ceres::SizedCostFunction<1,1> {
public:
virtual ~SimpleCostFunctor() {};
virtual bool Evaluate(
double const* const* parameters, double *residuals, double **jacobians) const {
const double x = parameters[0][0];
residuals[0] = 10 - x; // f(x) = 10 - x
if(jacobians != NULL && jacobians[0] != NULL) {
jacobians[0][0] = -1; // f'(x) = -1
}
return true;
}
};
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[0]);
double x = 0.5;
const double initial_x = x;
ceres::Problem problem;
// Set up the only cost function (also known as residual)
ceres::CostFunction *cost_function;
// auto-differentiation
// cost_function = new ceres::AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
//numeric differentiation
// cost_function =
// new ceres::NumericDiffCostFunction<CostFunctorNum, ceres::CENTRAL, 1, 1>(
// new CostFunctorNum);
cost_function = new SimpleCostFunctor;
// 添加代价函数cost_function和损失函数NULL,其中x为状态量
problem.AddResidualBlock(cost_function, NULL, &x);
ceres::Solver::Options options;
options.minimizer_progress_to_stdout = true;
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);
std::cout << summary.BriefReport() << "\n";
std::cout << "x : " << initial_x << " -> " << x << "\n";
return 0;
}
实战案例二、基于李代数的视觉SLAM位姿优化(解析求导)
以下内容来源与参考:
下面以 基于李代数的视觉SLAM位姿优化问题 为例,介绍 Ceres Solver 的使用。
(1)残差(预测值 - 观测值)
(2)雅克比矩阵
(3)核心代码
- 代价函数的构造
//应该是重投影误差,这样的话才会有残差2维的,优化变量是6维度的
class BAGNCostFunctor : public ceres::SizedCostFunction<2, 6> {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW //对齐
//? 二维,三维? 第一个是像素观测值 第二个是准备用来重投影的三维观测值
BAGNCostFunctor(Eigen::Vector2d observed_p, Eigen::Vector3d observed_P) :
observed_p_(observed_p), observed_P_(observed_P) {}
virtual ~BAGNCostFunctor() {}
virtual bool Evaluate(
//参数 残差 雅克比
double const* const* parameters, double *residuals, double **jacobians) const {
Eigen::Map<const Eigen::Matrix<double,6,1>> T_se3(*parameters);
Sophus::SE3 T_SE3 = Sophus::SE3::exp(T_se3);
Eigen::Vector3d Pc = T_SE3 * observed_P_;
Eigen::Matrix3d K;
double fx = 520.9, fy = 521.0, cx = 325.1, cy = 249.7;
K << fx, 0, cx, 0, fy, cy, 0, 0, 1;
//! 计算残差
Eigen::Vector2d residual = observed_p_ - (K * Pc).hnormalized();
residuals[0] = residual[0];
residuals[1] = residual[1];
if(jacobians != NULL) {
if(jacobians[0] != NULL) {
// 2*6的雅克比矩阵
Eigen::Map<Eigen::Matrix<double, 2, 6, Eigen::RowMajor>> J(jacobians[0]);
double x = Pc[0];
double y = Pc[1];
double z = Pc[2];
double x2 = x*x;
double y2 = y*y;
double z2 = z*z;
J(0,0) = fx/z;
J(0,1) = 0;
J(0,2) = -fx*x/z2;
J(0,3) = -fx*x*y/z2;
J(0,4) = fx+fx*x2/z2;
J(0,5) = -fx*y/z;
J(1,0) = 0;
J(1,1) = fy/z;
J(1,2) = -fy*y/z2;
J(1,3) = -fy-fy*y2/z2;
J(1,4) = fy*x*y/z2;
J(1,5) = fy*x/z;
}
}
return true;
}
private:
const Eigen::Vector2d observed_p_;
const Eigen::Vector3d observed_P_;
};
- 构造优化问题,并求解相机位姿
Sophus::Vector6d se3;
//在当前problem中添加代价函数残差块,损失函数为NULL采用默认的最小二乘误差即L2范数,优化变量为 se3
ceres::Problem problem;
for(int i=0; i<n_points; ++i) {
ceres::CostFunction *cost_function;
cost_function = new BAGNCostFunctor(p2d[i], p3d[i]); // p2d[i], p3d[i]是已知参数;
problem.AddResidualBlock(cost_function, NULL, se3.data()); // se3.data()需要优化的参数;
}
ceres::Solver::Options options;
options.dynamic_sparsity = true;
options.max_num_iterations = 100; //迭代100次
options.sparse_linear_algebra_library_type = ceres::SUITE_SPARSE;
options.minimizer_type = ceres::TRUST_REGION;
options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
options.trust_region_strategy_type = ceres::DOGLEG;
options.minimizer_progress_to_stdout = true;
options.dogleg_type = ceres::SUBSPACE_DOGLEG;
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);
std::cout << summary.BriefReport() << "\n";
std::cout << "estimated pose: \n" << Sophus::SE3::exp(se3).matrix() << std::endl;
理解:
- p2d[i], p3d[i]是已知参数;
- se3.data()需要优化的参数,其和 Evaluate()中的 parameters 对应;