Ceres

ceres_p1.cpp

#include <iostream>
#include <ceres/ceres.h>

using namespace std;

struct CostFunction_model {
    template <class T>
    bool operator () (const T* const x, T* residual) const {
        // g(x) = 10 - x的残差方程       
        residual[0] = T(10.0) - x[0];
        return true;
    }
};

int main(int argc, char** argv) {
    // 未知数的初始值
    double init_x = 4.0;
    double temp_x = init_x; // 备份

    // 建立Problem
    ceres::Problem problem;
    // 建立残差方程
    ceres::CostFunction* costFunction = new ceres::AutoDiffCostFunction<CostFunction_model, 1, 1>(new CostFunction_model);
    problem.AddResidualBlock(costFunction, NULL, &init_x);

    // 求解方程
    ceres::Solver::Options options;
    options.linear_solver_type = ceres::DENSE_QR;
    // 输出到cout
    options.minimizer_progress_to_stdout = true;
    // 优化信息
    ceres::Solver::Summary summary;
    ceres::Solve(options, &problem, &summary);

    cout<<summary.BriefReport()<<endl;
    cout<<"init_x = "<<temp_x<<endl<<"options_x = "<<init_x<<endl;  

    return 0;
}

CMakeLists.txt

cmake_minimum_required( VERSION 2.8 )
project( ceres )

set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )

# 添加cmake模块以使用ceres库
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )

# 寻找Ceres库并添加它的头文件
find_package( Ceres REQUIRED )
include_directories( ${CERES_INCLUDE_DIRS} )

# OpenCV
# find_package( OpenCV REQUIRED )
# include_directories( ${OpenCV_DIRS} )

add_executable( ceres_1 ceres_p1.cpp )
target_link_libraries( ceres_1 ${CERES_LIBRARIES} )

(cmake 方式)——Error:

(g++ 方式)——Error:

解决：重新编译ceres(g++-5)