参考官网和一些文档试着写下以下非线性方程组求解
除了官网文档,以下文档也值得学习:
博客1
博客2
后方交会
使用 Ceres Solver 求解非线性优化问题,主要包括以下几部分:
【STEP 1】构建优化问题(ceres::Problem)
【STEP 2】构建代价函数(ceres::CostFunction) 或残差(residual)
【STEP 3】配置代价函数和损失函数(ceres::Problem::AddResidualBlock):通过 AddResidualBlock 添加代价函数(cost function)、损失函数(loss function) 和待优化状态量
LossFunction: a scalar function that is used to reduce the influence of outliers on the solution of non-linear least squares problems.
【STEP 4】配置求解器(ceres::Solver::Options)
【STEP 5】运行求解器(ceres::Solve(options, &problem, &summary))
参考以上文档,对以下方程求解:
{
x
2
+
y
−
5
=
0
x
+
y
−
3
=
0
4
x
+
y
2
−
9
=
0
\begin{cases} x^2+y-5=0 \\ x+y-3 = 0 \\ 4x+y^2-9 = 0 \\ \end{cases}
⎩⎪⎨⎪⎧x2+y−5=0x+y−3=04x+y2−9=0
明显有x=2,y=1
#include"ceres/ceres.h"
using ceres::AutoDiffCostFunction;
using ceres::CostFunction;
using ceres::Problem;
using ceres::Solver;
using ceres::Solve;
struct nonline_fun
{
//x=2,1
template <typename T>
bool operator()(const T* const x, T* residual) const {
residual[1] = x[0]*x[0]+x[1]-T(5.0);
residual[0] = x[0] + x[1] - T(3.0);
residual[2] = T(4.0) * x[0] + x[1] * x[1] - T(9.0);
return true;
}
};
int main()
{
Problem problem;
//待优化参数
double y[2]={0.0,0.0};
//3:残差数量,2:()函数第一个参数的维度,这里是x的维度
CostFunction* cost_function =
new AutoDiffCostFunction<nonline_fun, 3, 2>(new nonline_fun);
problem.AddResidualBlock(cost_function, NULL, y);
Solver::Options options;
options.minimizer_progress_to_stdout = true;
Solver::Summary summary;
Solve(options, &problem, &summary);
std::cout << summary.BriefReport() << "\n";
std::cout << y[0] << "\n" << y[1] << "\n";
return 0;
}
实验结果:x=2,y=1