mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Update docs for 2.2.0.
Change-Id: Ib8fd3918d7bfda52212aa02c3c7573eb4dace270
This commit is contained in:
Sameer Agarwal
+1
-1
@@ -9,7 +9,7 @@ authors:
|
||||
given-names: Keir
|
||||
- name: The Ceres Solver Team
|
||||
version: 2.2
|
||||
date-released: 2023-10-09
|
||||
date-released: 2023-10-13
|
||||
license: Apache-2.0
|
||||
repository-code: https://github.com/ceres-solver/ceres-solver
|
||||
url: http://ceres-solver.org
|
||||
|
||||
@@ -76,67 +76,68 @@ algorithm.
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
0: f: 2.420000e+01 d: 0.00e+00 g: 2.16e+02 h: 0.00e+00 s: 0.00e+00 e: 0 it: 2.29e-05 tt: 2.29e-05
|
||||
1: f: 4.280493e+00 d: 1.99e+01 g: 1.52e+01 h: 2.01e-01 s: 8.62e-04 e: 2 it: 8.39e-05 tt: 1.62e-04
|
||||
2: f: 3.571154e+00 d: 7.09e-01 g: 1.35e+01 h: 3.78e-01 s: 1.34e-01 e: 3 it: 2.22e-05 tt: 1.91e-04
|
||||
3: f: 3.440869e+00 d: 1.30e-01 g: 1.73e+01 h: 1.36e-01 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 2.01e-04
|
||||
4: f: 3.213597e+00 d: 2.27e-01 g: 1.55e+01 h: 1.06e-01 s: 4.59e-01 e: 1 it: 3.81e-06 tt: 2.10e-04
|
||||
5: f: 2.839723e+00 d: 3.74e-01 g: 1.05e+01 h: 1.34e-01 s: 5.24e-01 e: 1 it: 4.05e-06 tt: 2.19e-04
|
||||
6: f: 2.448490e+00 d: 3.91e-01 g: 1.29e+01 h: 3.04e-01 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 2.28e-04
|
||||
7: f: 1.943019e+00 d: 5.05e-01 g: 4.00e+00 h: 8.81e-02 s: 7.43e-01 e: 1 it: 4.05e-06 tt: 2.36e-04
|
||||
8: f: 1.731469e+00 d: 2.12e-01 g: 7.36e+00 h: 1.71e-01 s: 4.60e-01 e: 2 it: 1.22e-05 tt: 2.52e-04
|
||||
9: f: 1.503267e+00 d: 2.28e-01 g: 6.47e+00 h: 8.66e-02 s: 1.00e+00 e: 1 it: 5.96e-06 tt: 2.66e-04
|
||||
10: f: 1.228331e+00 d: 2.75e-01 g: 2.00e+00 h: 7.70e-02 s: 7.90e-01 e: 1 it: 4.05e-06 tt: 2.75e-04
|
||||
11: f: 1.016523e+00 d: 2.12e-01 g: 5.15e+00 h: 1.39e-01 s: 3.76e-01 e: 2 it: 9.06e-06 tt: 2.88e-04
|
||||
12: f: 9.145773e-01 d: 1.02e-01 g: 6.74e+00 h: 7.98e-02 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 2.97e-04
|
||||
13: f: 7.508302e-01 d: 1.64e-01 g: 3.88e+00 h: 5.76e-02 s: 4.93e-01 e: 1 it: 5.01e-06 tt: 3.05e-04
|
||||
14: f: 5.832378e-01 d: 1.68e-01 g: 5.56e+00 h: 1.42e-01 s: 1.00e+00 e: 1 it: 4.77e-06 tt: 3.13e-04
|
||||
15: f: 3.969581e-01 d: 1.86e-01 g: 1.64e+00 h: 1.17e-01 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 3.20e-04
|
||||
16: f: 3.171557e-01 d: 7.98e-02 g: 3.84e+00 h: 1.18e-01 s: 3.97e-01 e: 2 it: 8.82e-06 tt: 3.33e-04
|
||||
17: f: 2.641257e-01 d: 5.30e-02 g: 3.27e+00 h: 6.14e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 3.42e-04
|
||||
18: f: 1.909730e-01 d: 7.32e-02 g: 5.29e-01 h: 8.55e-02 s: 6.82e-01 e: 1 it: 1.00e-05 tt: 4.64e-04
|
||||
19: f: 1.472012e-01 d: 4.38e-02 g: 3.11e+00 h: 1.20e-01 s: 3.47e-01 e: 2 it: 1.29e-05 tt: 4.87e-04
|
||||
20: f: 1.093558e-01 d: 3.78e-02 g: 2.97e+00 h: 8.43e-02 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 4.97e-04
|
||||
21: f: 6.710346e-02 d: 4.23e-02 g: 1.42e+00 h: 9.64e-02 s: 8.85e-01 e: 1 it: 4.05e-06 tt: 5.06e-04
|
||||
22: f: 3.993377e-02 d: 2.72e-02 g: 2.30e+00 h: 1.29e-01 s: 4.63e-01 e: 2 it: 1.00e-05 tt: 5.25e-04
|
||||
23: f: 2.911794e-02 d: 1.08e-02 g: 2.55e+00 h: 6.55e-02 s: 1.00e+00 e: 1 it: 5.01e-06 tt: 5.34e-04
|
||||
24: f: 1.457683e-02 d: 1.45e-02 g: 2.77e-01 h: 6.37e-02 s: 6.14e-01 e: 1 it: 4.05e-06 tt: 5.42e-04
|
||||
25: f: 8.577515e-03 d: 6.00e-03 g: 2.86e+00 h: 1.40e-01 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 5.49e-04
|
||||
26: f: 3.486574e-03 d: 5.09e-03 g: 1.76e-01 h: 1.23e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 5.57e-04
|
||||
27: f: 1.257570e-03 d: 2.23e-03 g: 1.39e-01 h: 5.08e-02 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 5.65e-04
|
||||
28: f: 2.783568e-04 d: 9.79e-04 g: 6.20e-01 h: 6.47e-02 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 5.73e-04
|
||||
29: f: 2.533399e-05 d: 2.53e-04 g: 1.68e-02 h: 1.98e-03 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 5.81e-04
|
||||
30: f: 7.591572e-07 d: 2.46e-05 g: 5.40e-03 h: 9.27e-03 s: 1.00e+00 e: 1 it: 5.96e-06 tt: 6.30e-04
|
||||
31: f: 1.902460e-09 d: 7.57e-07 g: 1.62e-03 h: 1.89e-03 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 6.39e-04
|
||||
32: f: 1.003030e-12 d: 1.90e-09 g: 3.50e-05 h: 3.52e-05 s: 1.00e+00 e: 1 it: 3.81e-06 tt: 6.47e-04
|
||||
33: f: 4.835994e-17 d: 1.00e-12 g: 1.05e-07 h: 1.13e-06 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 6.59e-04
|
||||
34: f: 1.885250e-22 d: 4.84e-17 g: 2.69e-10 h: 1.45e-08 s: 1.00e+00 e: 1 it: 4.05e-06 tt: 6.67e-04
|
||||
0: f: 2.420000e+01 d: 0.00e+00 g: 2.16e+02 h: 0.00e+00 s: 0.00e+00 e: 0 it: 1.19e-05 tt: 1.19e-05
|
||||
1: f: 4.280493e+00 d: 1.99e+01 g: 1.52e+01 h: 2.01e-01 s: 8.62e-04 e: 2 it: 7.30e-05 tt: 1.72e-04
|
||||
2: f: 3.571154e+00 d: 7.09e-01 g: 1.35e+01 h: 3.78e-01 s: 1.34e-01 e: 3 it: 1.60e-05 tt: 1.93e-04
|
||||
3: f: 3.440869e+00 d: 1.30e-01 g: 1.73e+01 h: 1.36e-01 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 1.97e-04
|
||||
4: f: 3.213597e+00 d: 2.27e-01 g: 1.55e+01 h: 1.06e-01 s: 4.59e-01 e: 1 it: 1.19e-06 tt: 2.00e-04
|
||||
5: f: 2.839723e+00 d: 3.74e-01 g: 1.05e+01 h: 1.34e-01 s: 5.24e-01 e: 1 it: 9.54e-07 tt: 2.03e-04
|
||||
6: f: 2.448490e+00 d: 3.91e-01 g: 1.29e+01 h: 3.04e-01 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 2.05e-04
|
||||
7: f: 1.943019e+00 d: 5.05e-01 g: 4.00e+00 h: 8.81e-02 s: 7.43e-01 e: 1 it: 9.54e-07 tt: 2.08e-04
|
||||
8: f: 1.731469e+00 d: 2.12e-01 g: 7.36e+00 h: 1.71e-01 s: 4.60e-01 e: 2 it: 2.15e-06 tt: 2.11e-04
|
||||
9: f: 1.503267e+00 d: 2.28e-01 g: 6.47e+00 h: 8.66e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 2.14e-04
|
||||
10: f: 1.228331e+00 d: 2.75e-01 g: 2.00e+00 h: 7.70e-02 s: 7.90e-01 e: 1 it: 0.00e+00 tt: 2.16e-04
|
||||
11: f: 1.016523e+00 d: 2.12e-01 g: 5.15e+00 h: 1.39e-01 s: 3.76e-01 e: 2 it: 1.91e-06 tt: 2.25e-04
|
||||
12: f: 9.145773e-01 d: 1.02e-01 g: 6.74e+00 h: 7.98e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 2.28e-04
|
||||
13: f: 7.508302e-01 d: 1.64e-01 g: 3.88e+00 h: 5.76e-02 s: 4.93e-01 e: 1 it: 9.54e-07 tt: 2.30e-04
|
||||
14: f: 5.832378e-01 d: 1.68e-01 g: 5.56e+00 h: 1.42e-01 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 2.33e-04
|
||||
15: f: 3.969581e-01 d: 1.86e-01 g: 1.64e+00 h: 1.17e-01 s: 1.00e+00 e: 1 it: 1.19e-06 tt: 2.36e-04
|
||||
16: f: 3.171557e-01 d: 7.98e-02 g: 3.84e+00 h: 1.18e-01 s: 3.97e-01 e: 2 it: 1.91e-06 tt: 2.39e-04
|
||||
17: f: 2.641257e-01 d: 5.30e-02 g: 3.27e+00 h: 6.14e-02 s: 1.00e+00 e: 1 it: 1.19e-06 tt: 2.42e-04
|
||||
18: f: 1.909730e-01 d: 7.32e-02 g: 5.29e-01 h: 8.55e-02 s: 6.82e-01 e: 1 it: 9.54e-07 tt: 2.45e-04
|
||||
19: f: 1.472012e-01 d: 4.38e-02 g: 3.11e+00 h: 1.20e-01 s: 3.47e-01 e: 2 it: 1.91e-06 tt: 2.49e-04
|
||||
20: f: 1.093558e-01 d: 3.78e-02 g: 2.97e+00 h: 8.43e-02 s: 1.00e+00 e: 1 it: 2.15e-06 tt: 2.52e-04
|
||||
21: f: 6.710346e-02 d: 4.23e-02 g: 1.42e+00 h: 9.64e-02 s: 8.85e-01 e: 1 it: 8.82e-06 tt: 2.81e-04
|
||||
22: f: 3.993377e-02 d: 2.72e-02 g: 2.30e+00 h: 1.29e-01 s: 4.63e-01 e: 2 it: 7.87e-06 tt: 2.96e-04
|
||||
23: f: 2.911794e-02 d: 1.08e-02 g: 2.55e+00 h: 6.55e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.00e-04
|
||||
24: f: 1.457683e-02 d: 1.45e-02 g: 2.77e-01 h: 6.37e-02 s: 6.14e-01 e: 1 it: 1.19e-06 tt: 3.03e-04
|
||||
25: f: 8.577515e-03 d: 6.00e-03 g: 2.86e+00 h: 1.40e-01 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.06e-04
|
||||
26: f: 3.486574e-03 d: 5.09e-03 g: 1.76e-01 h: 1.23e-02 s: 1.00e+00 e: 1 it: 1.19e-06 tt: 3.09e-04
|
||||
27: f: 1.257570e-03 d: 2.23e-03 g: 1.39e-01 h: 5.08e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.12e-04
|
||||
28: f: 2.783568e-04 d: 9.79e-04 g: 6.20e-01 h: 6.47e-02 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.15e-04
|
||||
29: f: 2.533399e-05 d: 2.53e-04 g: 1.68e-02 h: 1.98e-03 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.17e-04
|
||||
30: f: 7.591572e-07 d: 2.46e-05 g: 5.40e-03 h: 9.27e-03 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.20e-04
|
||||
31: f: 1.902460e-09 d: 7.57e-07 g: 1.62e-03 h: 1.89e-03 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.23e-04
|
||||
32: f: 1.003030e-12 d: 1.90e-09 g: 3.50e-05 h: 3.52e-05 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.26e-04
|
||||
33: f: 4.835994e-17 d: 1.00e-12 g: 1.05e-07 h: 1.13e-06 s: 1.00e+00 e: 1 it: 1.19e-06 tt: 3.34e-04
|
||||
34: f: 1.885250e-22 d: 4.84e-17 g: 2.69e-10 h: 1.45e-08 s: 1.00e+00 e: 1 it: 9.54e-07 tt: 3.37e-04
|
||||
|
||||
Solver Summary (v 2.1.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-cxsparse-(3.2.0)-acceleratesparse-eigensparse-no_openmp)
|
||||
Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(7.1.0)-metis-(5.1.0)-acceleratesparse-eigensparse)
|
||||
|
||||
Parameters 2
|
||||
Line search direction LBFGS (20)
|
||||
Line search type CUBIC WOLFE
|
||||
Parameters 2
|
||||
Line search direction LBFGS (20)
|
||||
Line search type CUBIC WOLFE
|
||||
|
||||
|
||||
Cost:
|
||||
Initial 2.420000e+01
|
||||
Final 1.955192e-27
|
||||
Change 2.420000e+01
|
||||
Cost:
|
||||
Initial 2.420000e+01
|
||||
Final 1.955192e-27
|
||||
Change 2.420000e+01
|
||||
|
||||
Minimizer iterations 36
|
||||
Minimizer iterations 36
|
||||
|
||||
Time (in seconds):
|
||||
Time (in seconds):
|
||||
|
||||
Cost evaluation 0.000000 (0)
|
||||
Gradient & cost evaluation 0.000005 (44)
|
||||
Polynomial minimization 0.000041
|
||||
Total 0.000368
|
||||
Cost evaluation 0.000000 (0)
|
||||
Gradient & cost evaluation 0.000000 (44)
|
||||
Polynomial minimization 0.000061
|
||||
Total 0.000438
|
||||
|
||||
Termination: CONVERGENCE (Parameter tolerance reached. Relative step_norm: 1.890726e-11 <= 1.000000e-08.)
|
||||
Termination: CONVERGENCE (Parameter tolerance reached. Relative step_norm: 1.890726e-11 <= 1.000000e-08.)
|
||||
|
||||
Initial x: -1.2 y: 1
|
||||
Final x: 1 y: 1
|
||||
|
||||
Initial x: -1.2 y: 1
|
||||
Final x: 1 y: 1
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -185,54 +185,54 @@ this.
|
||||
.. code-block:: bash
|
||||
|
||||
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
|
||||
0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 7.59e-02 3.37e-01
|
||||
1 1.062590e+05 4.08e+06 8.99e+06 5.36e+02 9.82e-01 3.00e+04 1 1.65e-01 5.03e-01
|
||||
2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 1.45e-01 6.48e-01
|
||||
3 1.899774e+04 3.09e+04 1.60e+06 1.24e+02 9.77e-01 9.26e+04 1 1.43e-01 7.92e-01
|
||||
4 1.808729e+04 9.10e+02 3.97e+05 6.39e+01 9.51e-01 2.78e+05 1 1.45e-01 9.36e-01
|
||||
5 1.803399e+04 5.33e+01 1.48e+04 1.23e+01 9.99e-01 8.33e+05 1 1.45e-01 1.08e+00
|
||||
6 1.803390e+04 9.02e-02 6.35e+01 8.00e-01 1.00e+00 2.50e+06 1 1.50e-01 1.23e+00
|
||||
0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 2.18e-02 6.57e-02
|
||||
1 1.062590e+05 4.08e+06 8.99e+06 0.00e+00 9.82e-01 3.00e+04 1 5.07e-02 1.16e-01
|
||||
2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 4.75e-02 1.64e-01
|
||||
3 1.899774e+04 3.09e+04 1.60e+06 1.24e+02 9.77e-01 9.26e+04 1 4.74e-02 2.11e-01
|
||||
4 1.808729e+04 9.10e+02 3.97e+05 6.39e+01 9.51e-01 2.78e+05 1 4.75e-02 2.59e-01
|
||||
5 1.803399e+04 5.33e+01 1.48e+04 1.23e+01 9.99e-01 8.33e+05 1 4.74e-02 3.06e-01
|
||||
6 1.803390e+04 9.02e-02 6.35e+01 8.00e-01 1.00e+00 2.50e+06 1 4.76e-02 3.54e-01
|
||||
|
||||
Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-acceleratesparse-eigensparse-no_openmp)
|
||||
Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(7.1.0)-metis-(5.1.0)-acceleratesparse-eigensparse)
|
||||
|
||||
Original Reduced
|
||||
Parameter blocks 22122 22122
|
||||
Parameters 66462 66462
|
||||
Residual blocks 83718 83718
|
||||
Residuals 167436 167436
|
||||
Original Reduced
|
||||
Parameter blocks 22122 22122
|
||||
Parameters 66462 66462
|
||||
Residual blocks 83718 83718
|
||||
Residuals 167436 167436
|
||||
|
||||
Minimizer TRUST_REGION
|
||||
Minimizer TRUST_REGION
|
||||
|
||||
Dense linear algebra library EIGEN
|
||||
Trust region strategy LEVENBERG_MARQUARDT
|
||||
Dense linear algebra library EIGEN
|
||||
Trust region strategy LEVENBERG_MARQUARDT
|
||||
Given Used
|
||||
Linear solver DENSE_SCHUR DENSE_SCHUR
|
||||
Threads 1 1
|
||||
Linear solver ordering AUTOMATIC 22106,16
|
||||
Schur structure 2,3,9 2,3,9
|
||||
|
||||
Given Used
|
||||
Linear solver DENSE_SCHUR DENSE_SCHUR
|
||||
Threads 1 1
|
||||
Linear solver ordering AUTOMATIC 22106,16
|
||||
Schur structure 2,3,9 2,3,9
|
||||
Cost:
|
||||
Initial 4.185660e+06
|
||||
Final 1.803390e+04
|
||||
Change 4.167626e+06
|
||||
|
||||
Cost:
|
||||
Initial 4.185660e+06
|
||||
Final 1.803390e+04
|
||||
Change 4.167626e+06
|
||||
Minimizer iterations 7
|
||||
Successful steps 7
|
||||
Unsuccessful steps 0
|
||||
|
||||
Minimizer iterations 7
|
||||
Successful steps 7
|
||||
Unsuccessful steps 0
|
||||
Time (in seconds):
|
||||
Preprocessor 0.043895
|
||||
|
||||
Time (in seconds):
|
||||
Preprocessor 0.121654
|
||||
Residual only evaluation 0.029855 (7)
|
||||
Jacobian & residual evaluation 0.120581 (7)
|
||||
Linear solver 0.153665 (7)
|
||||
Minimizer 0.339275
|
||||
|
||||
Residual only evaluation 0.065968 (7)
|
||||
Jacobian & residual evaluation 0.303356 (7)
|
||||
Linear solver 0.436650 (7)
|
||||
Minimizer 0.890535
|
||||
Postprocessor 0.000540
|
||||
Total 0.383710
|
||||
|
||||
Postprocessor 0.001684
|
||||
Total 1.013873
|
||||
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769759e-09 <= 1.000000e-06)
|
||||
|
||||
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769756e-09 <= 1.000000e-06)
|
||||
|
||||
.. section-macos:
|
||||
|
||||
|
||||
@@ -379,62 +379,65 @@ gives us:
|
||||
|
||||
Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
|
||||
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
|
||||
0 1.075000e+02 0.00e+00 1.55e+02 0.00e+00 0.00e+00 1.00e+04 0 4.95e-04 2.30e-03
|
||||
1 5.036190e+00 1.02e+02 2.00e+01 2.16e+00 9.53e-01 3.00e+04 1 4.39e-05 2.40e-03
|
||||
2 3.148168e-01 4.72e+00 2.50e+00 6.23e-01 9.37e-01 9.00e+04 1 9.06e-06 2.43e-03
|
||||
3 1.967760e-02 2.95e-01 3.13e-01 3.08e-01 9.37e-01 2.70e+05 1 8.11e-06 2.45e-03
|
||||
4 1.229900e-03 1.84e-02 3.91e-02 1.54e-01 9.37e-01 8.10e+05 1 6.91e-06 2.48e-03
|
||||
5 7.687123e-05 1.15e-03 4.89e-03 7.69e-02 9.37e-01 2.43e+06 1 7.87e-06 2.50e-03
|
||||
6 4.804625e-06 7.21e-05 6.11e-04 3.85e-02 9.37e-01 7.29e+06 1 5.96e-06 2.52e-03
|
||||
7 3.003028e-07 4.50e-06 7.64e-05 1.92e-02 9.37e-01 2.19e+07 1 5.96e-06 2.55e-03
|
||||
8 1.877006e-08 2.82e-07 9.54e-06 9.62e-03 9.37e-01 6.56e+07 1 5.96e-06 2.57e-03
|
||||
9 1.173223e-09 1.76e-08 1.19e-06 4.81e-03 9.37e-01 1.97e+08 1 7.87e-06 2.60e-03
|
||||
10 7.333425e-11 1.10e-09 1.49e-07 2.40e-03 9.37e-01 5.90e+08 1 6.20e-06 2.63e-03
|
||||
11 4.584044e-12 6.88e-11 1.86e-08 1.20e-03 9.37e-01 1.77e+09 1 6.91e-06 2.65e-03
|
||||
12 2.865573e-13 4.30e-12 2.33e-09 6.02e-04 9.37e-01 5.31e+09 1 5.96e-06 2.67e-03
|
||||
13 1.791438e-14 2.69e-13 2.91e-10 3.01e-04 9.37e-01 1.59e+10 1 7.15e-06 2.69e-03
|
||||
0 1.075000e+02 0.00e+00 1.55e+02 0.00e+00 0.00e+00 1.00e+04 0 2.91e-05 3.40e-04
|
||||
1 5.036190e+00 1.02e+02 2.00e+01 0.00e+00 9.53e-01 3.00e+04 1 4.98e-05 3.99e-04
|
||||
2 3.148168e-01 4.72e+00 2.50e+00 6.23e-01 9.37e-01 9.00e+04 1 2.15e-06 4.06e-04
|
||||
3 1.967760e-02 2.95e-01 3.13e-01 3.08e-01 9.37e-01 2.70e+05 1 9.54e-07 4.10e-04
|
||||
4 1.229900e-03 1.84e-02 3.91e-02 1.54e-01 9.37e-01 8.10e+05 1 1.91e-06 4.14e-04
|
||||
5 7.687123e-05 1.15e-03 4.89e-03 7.69e-02 9.37e-01 2.43e+06 1 1.91e-06 4.18e-04
|
||||
6 4.804625e-06 7.21e-05 6.11e-04 3.85e-02 9.37e-01 7.29e+06 1 1.19e-06 4.21e-04
|
||||
7 3.003028e-07 4.50e-06 7.64e-05 1.92e-02 9.37e-01 2.19e+07 1 1.91e-06 4.25e-04
|
||||
8 1.877006e-08 2.82e-07 9.54e-06 9.62e-03 9.37e-01 6.56e+07 1 9.54e-07 4.28e-04
|
||||
9 1.173223e-09 1.76e-08 1.19e-06 4.81e-03 9.37e-01 1.97e+08 1 9.54e-07 4.32e-04
|
||||
10 7.333425e-11 1.10e-09 1.49e-07 2.40e-03 9.37e-01 5.90e+08 1 9.54e-07 4.35e-04
|
||||
11 4.584044e-12 6.88e-11 1.86e-08 1.20e-03 9.37e-01 1.77e+09 1 9.54e-07 4.38e-04
|
||||
12 2.865573e-13 4.30e-12 2.33e-09 6.02e-04 9.37e-01 5.31e+09 1 2.15e-06 4.42e-04
|
||||
13 1.791438e-14 2.69e-13 2.91e-10 3.01e-04 9.37e-01 1.59e+10 1 1.91e-06 4.45e-04
|
||||
14 1.120029e-15 1.68e-14 3.64e-11 1.51e-04 9.37e-01 4.78e+10 1 2.15e-06 4.48e-04
|
||||
|
||||
Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(7.1.0)-metis-(5.1.0)-acceleratesparse-eigensparse)
|
||||
|
||||
Ceres Solver v1.12.0 Solve Report
|
||||
----------------------------------
|
||||
Original Reduced
|
||||
Parameter blocks 4 4
|
||||
Parameters 4 4
|
||||
Residual blocks 4 4
|
||||
Residual 4 4
|
||||
Residuals 4 4
|
||||
|
||||
Minimizer TRUST_REGION
|
||||
|
||||
Dense linear algebra library EIGEN
|
||||
Trust region strategy LEVENBERG_MARQUARDT
|
||||
|
||||
Given Used
|
||||
Linear solver DENSE_QR DENSE_QR
|
||||
Threads 1 1
|
||||
Linear solver threads 1 1
|
||||
Linear solver ordering AUTOMATIC 4
|
||||
|
||||
Cost:
|
||||
Initial 1.075000e+02
|
||||
Final 1.791438e-14
|
||||
Final 1.120029e-15
|
||||
Change 1.075000e+02
|
||||
|
||||
Minimizer iterations 14
|
||||
Successful steps 14
|
||||
Minimizer iterations 15
|
||||
Successful steps 15
|
||||
Unsuccessful steps 0
|
||||
|
||||
Time (in seconds):
|
||||
Preprocessor 0.002
|
||||
Preprocessor 0.000311
|
||||
|
||||
Residual evaluation 0.000
|
||||
Jacobian evaluation 0.000
|
||||
Linear solver 0.000
|
||||
Minimizer 0.001
|
||||
Residual only evaluation 0.000002 (14)
|
||||
Jacobian & residual evaluation 0.000023 (15)
|
||||
Linear solver 0.000043 (14)
|
||||
Minimizer 0.000163
|
||||
|
||||
Postprocessor 0.000
|
||||
Total 0.005
|
||||
Postprocessor 0.000012
|
||||
Total 0.000486
|
||||
|
||||
Termination: CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10)
|
||||
|
||||
Final x1 = 0.000292189, x2 = -2.92189e-05, x3 = 4.79511e-05, x4 = 4.79511e-05
|
||||
Final x1 = 0.000146222, x2 = -1.46222e-05, x3 = 2.40957e-05, x4 = 2.40957e-05
|
||||
|
||||
|
||||
|
||||
|
||||
It is easy to see that the optimal solution to this problem is at
|
||||
:math:`x_1=0, x_2=0, x_3=0, x_4=0` with an objective function value of
|
||||
@@ -864,23 +867,23 @@ directory contains a number of other examples:
|
||||
measurement and the predicted measurement is:
|
||||
|
||||
.. math:: r_{ab} =
|
||||
\left[
|
||||
\begin{array}{c}
|
||||
R_a^T\left(p_b - p_a\right) - \hat{p}_{ab} \\
|
||||
\mathrm{Normalize}\left(\psi_b - \psi_a - \hat{\psi}_{ab}\right)
|
||||
\end{array}
|
||||
\right]
|
||||
\left[
|
||||
\begin{array}{c}
|
||||
R_a^T\left(p_b - p_a\right) - \hat{p}_{ab} \\
|
||||
\mathrm{Normalize}\left(\psi_b - \psi_a - \hat{\psi}_{ab}\right)
|
||||
\end{array}
|
||||
\right]
|
||||
|
||||
where the function :math:`\mathrm{Normalize}()` normalizes the angle in the range
|
||||
:math:`[-\pi,\pi)`, and :math:`R` is the rotation matrix given by
|
||||
|
||||
.. math:: R_a =
|
||||
\left[
|
||||
\begin{array}{cc}
|
||||
\cos \psi_a & -\sin \psi_a \\
|
||||
\sin \psi_a & \cos \psi_a \\
|
||||
\end{array}
|
||||
\right]
|
||||
\left[
|
||||
\begin{array}{cc}
|
||||
\cos \psi_a & -\sin \psi_a \\
|
||||
\sin \psi_a & \cos \psi_a \\
|
||||
\end{array}
|
||||
\right]
|
||||
|
||||
To finish the cost function, we need to weight the residual by the
|
||||
uncertainty of the measurement. Hence, we pre-multiply the residual by the
|
||||
|
||||
@@ -50,6 +50,7 @@ Backward Incompatible API Changes
|
||||
|
||||
Bug Fixes & Minor Changes
|
||||
-------------------------
|
||||
#. Optimize the computation of the LM diagonal in TinySolver
|
||||
#. Improvements to multi-threaded performance for small problems that
|
||||
had regressed due to changes to threading (Dmitrity Korchemkin)
|
||||
#. Fix handling of M_PI for MSVC (Sergiu Deitsch)
|
||||
|
||||
Reference in New Issue
Block a user