编译环境ubuntu20.04 vscode
ceres库2.0.0
g2o库同gaoxiang12/slambook2中的版本号一致
cmake文件
cmake_minimum_required(VERSION 2.8)
project(ch6)
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "-std=c++14 -O3")
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIRS})
include_directories("/usr/include/eigen3")
add_executable(GN GN.cpp)
target_link_libraries(GN ${OpenCV_LIBS})
add_executable(doceres doceres.cpp)
target_link_libraries(doceres ${OpenCV_LIBS} ${CERES_LIBRARIES})
add_executable(dog2o dog2o.cpp)
target_link_libraries(dog2o ${OpenCV_LIBS} ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY})
手写高斯牛顿
#include <iostream>
#include <opencv2/opencv.hpp>
#include <Eigen/Core>
#include <Eigen/Dense>
using namespace std;
using namespace Eigen;
int main()
{
double ar = 1.0,br = 2.0,cr = 1.0;
double ae = 2.0,be = -1.0,ce = 5.0;
int N = 100;
double w_sigma = 1.0;
double inv_sigma = 1.0 /w_sigma;
cv::RNG rng;
vector<double> x_data, y_data;
for (int i = 0; i < N; i++)
{
double x = i / 100.0;
x_data.push_back(x);
y_data.push_back(exp(ar*x*x+br*x+cr)+rng.gaussian(w_sigma*w_sigma));
}
int iterations = 100;
double cost = 0, lastCost =0;
chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
for (int i = 0; i < iterations; i++)
{
Matrix3d H = Matrix3d::Zero();
Vector3d b = Vector3d::Zero();
cost = 0;
for (int j = 0; j < N; j++)
{
double xj = x_data[j], yj = y_data[j];
double error = yj - exp(ae*xj*xj+be*xj+ce);
Vector3d J;
J[0] = -xj*xj*exp(ae*xj*xj+be*xj+ce);
J[1] = -xj*exp(ae*xj*xj+be*xj+ce);
J[2] = -exp(ae*xj*xj+be*xj+ce);
H += inv_sigma * inv_sigma *J *J.transpose();
b += -inv_sigma*inv_sigma*error*J;
cost+=error*error;
}
Vector3d dx = H.ldlt().solve(b);
if(isnan(dx[0]))
{
cout<< "result is nan!"<<endl;
break;
}
if(i > 0 && cost >= lastCost)
{
cout<<"cost: "<<cost<<" >= last cost: "<<lastCost<<", break."<<endl;
break;
}
ae += dx[0];
be += dx[1];
ce += dx[2];
lastCost = cost;
cout<<"total cost : "<<cost<<", \t\tupdate: "<<dx.transpose()
<<"\t\testimated params: "<<ae<<" , "<<be<<" , "<<ce<<endl;
}
chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2-t1);
cout<<"solve time cost = "<<time_used.count()<<" seconds."<<endl;
cout<<"estimate abc = "<<ae<<" , "<<be<<" , "<<ce<<endl;
return 0;
}
使用ceres
#include <iostream>
#include <opencv2/opencv.hpp>
#include <ceres/ceres.h>
#include <chrono>
using namespace std;
struct CURVE_FITTING_COST
{
CURVE_FITTING_COST(double x,double y): _x(x), _y(y){}
template<typename T>
bool operator()
(
const T * const abc,
T *residual
)
const
{
residual[0] = T(_y) - ceres::exp(abc[0] * T(_x) *T(_x) + abc[1]*T(_x)+abc[2]);
return true;
}
const double _x,_y;
};
int main (int argc ,char** argv)
{
//和高斯牛顿初始化步骤一样-------------------------------------------------------------------------
double ar = 1.0,br = 2.0,cr = 1.0;
double ae = 2.0,be = -1.0,ce = 5.0;
int N = 100;
double w_sigma = 1.0;
double inv_sigma = 1.0 /w_sigma;
cv::RNG rng;
vector<double> x_data, y_data;
for (size_t i = 0; i < N; i++)
{
double x = i / 100.0;
x_data.push_back(x);
y_data.push_back(exp(ar*x*x+br*x+cr)+rng.gaussian(w_sigma*w_sigma));
}
double abc[3] = {ae,be,ce};
ceres::Problem problem; //ceres构建最小二乘问题
for (int i = 0; i < N; i++)
{
problem.AddResidualBlock //添加误差项
(
new ceres::AutoDiffCostFunction<CURVE_FITTING_COST,1,3> //自动求导<类型,输出维度,输入维度>
(
new CURVE_FITTING_COST(x_data[i],y_data[i]) //参数
),
nullptr, //核函数,这里用不上
abc //待估计参数
);
}
ceres::Solver::Options options; //求解器配置
options.linear_solver_type = ceres::DENSE_NORMAL_CHOLESKY; //现行求解器,cholesky
options.minimizer_progress_to_stdout = true; //输出到cout
ceres::Solver::Summary summary; //总结
chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
ceres::Solve(options,&problem,&summary); //优化
chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2-t1);
cout<<"solve time cost = "<<time_used.count()<<"seconds."<<endl;
cout<<summary.BriefReport()<<endl;
cout<<"estimated a,b,c = ";
for(auto a:abc) cout<<a<<" ";
cout<<endl;
return 0;
}
使用g2o
#include <iostream>
#include <g2o/core/g2o_core_api.h>
#include <g2o/core/base_vertex.h>
#include <g2o/core/base_unary_edge.h>
#include <g2o/core/block_solver.h>
#include <g2o/core/optimization_algorithm_levenberg.h>
#include <g2o/core/optimization_algorithm_gauss_newton.h>
#include <g2o/core/optimization_algorithm_dogleg.h>
#include <g2o/solvers/dense/linear_solver_dense.h>
#include <Eigen/Core>
#include <opencv2/core/core.hpp>
#include <cmath>
#include <chrono>
using namespace std;
// 曲线模型的顶点,模板参数:优化变量维度和数据类型
class CurveFittingVertex : public g2o::BaseVertex<3, Eigen::Vector3d> {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
// 重置
virtual void setToOriginImpl() override {
_estimate << 0, 0, 0;
}
// 更新
virtual void oplusImpl(const double *update) override {
_estimate += Eigen::Vector3d(update);
}
// 存盘和读盘:留空
virtual bool read(istream &in) {}
virtual bool write(ostream &out) const {}
};
// 误差模型 模板参数:观测值维度,类型,连接顶点类型
class CurveFittingEdge : public g2o::BaseUnaryEdge<1, double, CurveFittingVertex> {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
CurveFittingEdge(double x) : BaseUnaryEdge(), _x(x) {}
// 计算曲线模型误差
virtual void computeError() override {
const CurveFittingVertex *v = static_cast<const CurveFittingVertex *> (_vertices[0]);
const Eigen::Vector3d abc = v->estimate();
_error(0, 0) = _measurement - std::exp(abc(0, 0) * _x * _x + abc(1, 0) * _x + abc(2, 0));
}
// 计算雅可比矩阵
virtual void linearizeOplus() override {
const CurveFittingVertex *v = static_cast<const CurveFittingVertex *> (_vertices[0]);
const Eigen::Vector3d abc = v->estimate();
double y = exp(abc[0] * _x * _x + abc[1] * _x + abc[2]);
_jacobianOplusXi[0] = -_x * _x * y;
_jacobianOplusXi[1] = -_x * y;
_jacobianOplusXi[2] = -y;
}
virtual bool read(istream &in) {}
virtual bool write(ostream &out) const {}
public:
double _x; // x 值, y 值为 _measurement
};
int main(int argc, char **argv) {
double ar = 1.0, br = 2.0, cr = 1.0; // 真实参数值
double ae = 2.0, be = -1.0, ce = 5.0; // 估计参数值
int N = 100; // 数据点
double w_sigma = 1.0; // 噪声Sigma值
double inv_sigma = 1.0 / w_sigma;
cv::RNG rng; // OpenCV随机数产生器
vector<double> x_data, y_data; // 数据
for (int i = 0; i < N; i++) {
double x = i / 100.0;
x_data.push_back(x);
y_data.push_back(exp(ar * x * x + br * x + cr) + rng.gaussian(w_sigma * w_sigma));
}
// 构建图优化,先设定g2o
typedef g2o::BlockSolver<g2o::BlockSolverTraits<3, 1>> BlockSolverType; // 每个误差项优化变量维度为3,误差值维度为1
typedef g2o::LinearSolverDense<BlockSolverType::PoseMatrixType> LinearSolverType; // 线性求解器类型
// 梯度下降方法,可以从GN, LM, DogLeg 中选
auto solver = new g2o::OptimizationAlgorithmGaussNewton(
g2o::make_unique<BlockSolverType>(g2o::make_unique<LinearSolverType>()));
g2o::SparseOptimizer optimizer; // 图模型
optimizer.setAlgorithm(solver); // 设置求解器
optimizer.setVerbose(true); // 打开调试输出
// 往图中增加顶点
CurveFittingVertex *v = new CurveFittingVertex();
v->setEstimate(Eigen::Vector3d(ae, be, ce));
v->setId(0);
optimizer.addVertex(v);
// 往图中增加边
for (int i = 0; i < N; i++) {
CurveFittingEdge *edge = new CurveFittingEdge(x_data[i]);
edge->setId(i);
edge->setVertex(0, v); // 设置连接的顶点
edge->setMeasurement(y_data[i]); // 观测数值
edge->setInformation(Eigen::Matrix<double, 1, 1>::Identity() * 1 / (w_sigma * w_sigma)); // 信息矩阵:协方差矩阵之逆
optimizer.addEdge(edge);
}
// 执行优化
cout << "start optimization" << endl;
chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
optimizer.initializeOptimization();
optimizer.optimize(10);
chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);
cout << "solve time cost = " << time_used.count() << " seconds. " << endl;
// 输出优化值
Eigen::Vector3d abc_estimate = v->estimate();
cout << "estimated model: " << abc_estimate.transpose() << endl;
return 0;
}
编译出问题,如果代码完全一致,要么是g2o太新,要么是ceres太旧,自行调整;
有的版本解答将auto的那边改为自动指针,我试了还是显示ceres库中未声明data和fill,还得是换g2o的库