ceres学习笔记（三）：曲线拟合

曲线拟合

#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;

const int kNumObservations = 67;
const double data[] = {
    0.000000e+00,
    1.133898e+00,
    7.500000e-02,
    1.334902e+00,
    1.500000e-01,
    1.213546e+00,
    2.250000e-01,
    1.252016e+00,
    3.000000e-01,
    1.392265e+00,
    3.750000e-01,
    1.314458e+00,
    4.500000e-01,
    1.472541e+00,
    5.250000e-01,
    1.536218e+00,
    6.000000e-01,
    1.355679e+00,
    6.750000e-01,
    1.463566e+00,
    7.500000e-01,
    1.490201e+00,
    8.250000e-01,
    1.658699e+00,
    9.000000e-01,
    1.067574e+00,
    9.750000e-01,
    1.464629e+00,
    1.050000e+00,
    1.402653e+00,
    1.125000e+00,
    1.713141e+00,
    1.200000e+00,
    1.527021e+00,
    1.275000e+00,
    1.702632e+00,
    1.350000e+00,
    1.423899e+00,
    1.425000e+00,
    1.543078e+00,
    1.500000e+00,
    1.664015e+00,
    1.575000e+00,
    1.732484e+00,
    1.650000e+00,
    1.543296e+00,
    1.725000e+00,
    1.959523e+00,
    1.800000e+00,
    1.685132e+00,
    1.875000e+00,
    1.951791e+00,
    1.950000e+00,
    2.095346e+00,
    2.025000e+00,
    2.361460e+00,
    2.100000e+00,
    2.169119e+00,
    2.175000e+00,
    2.061745e+00,
    2.250000e+00,
    2.178641e+00,
    2.325000e+00,
    2.104346e+00,
    2.400000e+00,
    2.584470e+00,
    2.475000e+00,
    1.914158e+00,
    2.550000e+00,
    2.368375e+00,
    2.625000e+00,
    2.686125e+00,
    2.700000e+00,
    2.712395e+00,
    2.775000e+00,
    2.499511e+00,
    2.850000e+00,
    2.558897e+00,
    2.925000e+00,
    2.309154e+00,
    3.000000e+00,
    2.869503e+00,
    3.075000e+00,
    3.116645e+00,
    3.150000e+00,
    3.094907e+00,
    3.225000e+00,
    2.471759e+00,
    3.300000e+00,
    3.017131e+00,
    3.375000e+00,
    3.232381e+00,
    3.450000e+00,
    2.944596e+00,
    3.525000e+00,
    3.385343e+00,
    3.600000e+00,
    3.199826e+00,
    3.675000e+00,
    3.423039e+00,
    3.750000e+00,
    3.621552e+00,
    3.825000e+00,
    3.559255e+00,
    3.900000e+00,
    3.530713e+00,
    3.975000e+00,
    3.561766e+00,
    4.050000e+00,
    3.544574e+00,
    4.125000e+00,
    3.867945e+00,
    4.200000e+00,
    4.049776e+00,
    4.275000e+00,
    3.885601e+00,
    4.350000e+00,
    4.110505e+00,
    4.425000e+00,
    4.345320e+00,
    4.500000e+00,
    4.161241e+00,
    4.575000e+00,
    4.363407e+00,
    4.650000e+00,
    4.161576e+00,
    4.725000e+00,
    4.619728e+00,
    4.800000e+00,
    4.737410e+00,
    4.875000e+00,
    4.727863e+00,
    4.950000e+00,
    4.669206e+00,
};
struct ExponentialResidual
{
     ExponentialResidual(double x, double y) : x_(x), y_(y) {}
     template <typename T>
     bool operator()(const T *const m, const T *const c, T *residual) const
     {
          residual[0] = T(y_) - exp(m[0] * T(x_) + c[0]);
          return true;
     }

private:
     const double x_;
     const double y_;
};

int main(int argc, char **argv)
{

     double m = 0, c = 0;
     Problem problem;
     for (int i = 0; i < kNumObservations; ++i)
     {
          CostFunction *cost_function = new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(new ExponentialResidual(data[2 * i], data[2 * i + 1]));
          problem.AddResidualBlock(cost_function, nullptr, &m, &c);
          Solver::Options options;
          options.max_num_iterations = 25;
          options.linear_solver_type = ceres::DENSE_QR;
          options.minimizer_progress_to_stdout = true;
          Solver::Summary summary;
          Solve(options, &problem, &summary);
          std::cout << summary.BriefReport() << '\n';
          std::cout << "real m: " << 0.3 << " c: " << 0.1 << "\n";
          std::cout << "Final   m: " << m << " c: " << c << "\n";
     }
     return 0;
}

鲁棒曲线拟合

这里是非常重要的，数据集合中加入几个非常夸张的Outliers，那么拟合结果会受到这几个点的严重影响。此时，需要应用损失函数（Loss function），也就是ceres定义的${\rho }_i$来对异常数据进行过滤，其原理是调整残差的权重，如果残差过大时，通过一些机制降低其权重，从而提供鲁棒性。这在实际问题中，非常有用，并且操作也很简单。

将上述代码向problem添加残差块的代码改为：

problem.AddResidualBlock(cost_function, new ceres::CauchyLoss(0.5) , &m, &c);