ceres学习笔记（二）：求解Powell’s Function

求解Powell’s Function

比第一个例子复杂一些，学习一下多维参数块的ceres求解写法

将每个残差方程单独构造

#include <iostream>
#include "ceres/ceres.h"
#include "glog/logging.h"
using ceres::AutoDiffCostFunction;
using ceres::CostFunction;
using ceres::NumericDiffCostFunction;
using ceres::Problem;
using ceres::SizedCostFunction;
using ceres::Solve;
using ceres::Solver;


struct F1
{
     template <typename T>
     bool operator()(const T *const x1, const T *const x2, T *residual) const
     {
          residual[0] = x1[0] + T(10) * x2[0];
          return true;
     }
};

struct F2
{
     template <typename T>
     bool operator()(const T *const x3, const T *const x4, T *residual) const
     {
          residual[0] = T(sqrt(5.0)) * (x3[0] - x4[0]);
          return true;
     }
};

struct F3
{
     template <typename T>
     bool operator()(const T *const x2, const T *const x3, T *residual) const
     {
          residual[0] = (x2[0] - T(2) * x3[0]) * (x2[0] - T(2) * x3[0]);
          return true;
     }
};
struct F4
{
     template <typename T>
     bool operator()(const T *const x1, const T *const x4, T *residual) const
     {
          residual[0] = T(sqrt(10.0)) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
          return true;
     }
};

int main(int argc, char **argv)
{
     double x1 = 3.0;
     double x2 = -1.0;
     double x3 = 0.0;
     double x4 = 1.0;
     Problem problem;
     problem.AddResidualBlock(
         new AutoDiffCostFunction<F1, 1, 1, 1>(new F1), nullptr, &x1, &x2);
     problem.AddResidualBlock(
         new AutoDiffCostFunction<F2, 1, 1, 1>(new F2), nullptr, &x3, &x4);
     problem.AddResidualBlock(
         new AutoDiffCostFunction<F3, 1, 1, 1>(new F3), nullptr, &x2, &x3);
     problem.AddResidualBlock(
         new AutoDiffCostFunction<F4, 1, 1, 1>(new F4), nullptr, &x1, &x4);

     Solver::Options options;
     options.max_num_iterations = 100;
     options.linear_solver_type = ceres::DENSE_QR;
     options.minimizer_progress_to_stdout = true;
     std::cout << "Initial x1 = " << x1
               << ", x2 = " << x2
               << ", x3 = " << x3
               << ", x4 = " << x4
               << "\n";
     Solver::Summary summary;
     Solve(options, &problem, &summary);
     std::cout << summary.FullReport() << "\n";
     std::cout << "Final x1 = " << x1
               << ", x2 = " << x2
               << ", x3 = " << x3
               << ", x4 = " << x4
               << "\n";
     return 0;
}

紧凑形式

#include <iostream>
#include "ceres/ceres.h"
#include "glog/logging.h"
using ceres::AutoDiffCostFunction;
using ceres::CostFunction;
using ceres::NumericDiffCostFunction;
using ceres::Problem;
using ceres::SizedCostFunction;
using ceres::Solve;
using ceres::Solver;

struct CostFunctor
{
     template <typename T>
     bool operator()(const T *const x, T *residule) const
     {
          residule[0] = x[0] + T(10) * x[1];
          residule[1] = T(sqrt(5.0)) * (x[2] - x[3]);
          residule[2] = pow(x[1] - T(2) * x[2], 2);
          residule[3] = T(sqrt(10.0)) * (x[0] - x[3]) * (x[0] - x[3]);
          return true;
     }
};

int main(int argc, char **argv)
{
     double x[4] = {3.0, -1.0, 0.0, 1.0};
     Problem problem;
     problem.AddResidualBlock(
         new AutoDiffCostFunction<CostFunctor, 4, 4>(new CostFunctor), nullptr, x);

     Solver::Options options;
     options.max_num_iterations = 100;
     options.linear_solver_type = ceres::DENSE_QR;
     options.minimizer_progress_to_stdout = true;
     std::cout << "Initial x1 = " << x[0]
               << ", x2 = " << x[1]
               << ", x3 = " << x[2]
               << ", x4 = " << x[3]
               << "\n";
     Solver::Summary summary;
     Solve(options, &problem, &summary);
     std::cout << summary.FullReport() << "\n";
     std::cout << "Final x1 = " << x[0]
               << ", x2 = " << x[1]
               << ", x3 = " << x[2]
               << ", x4 = " << x[3]
               << "\n";
     return 0;
}