mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sergiu Deitsch
91773746be
If arguments are passed to a cost function that can be used to construct the functor, the latter will be instantiated by the cost function using std::make_unique to ensure exception safety. This not only avoids static analysis warnings caused by calling new but also spelling the cost functor type name multiple times. Also expand deduction guides for instantiating Dynamic(Auto|Numeric)DiffCostFunction from std::unique_ptr enabled constructor overloads. Finally, make CostFunction default move constructible and assignable but only through derived classes. This in turn allows derived classes to be movable without relying on custom implementations of corresponding operators. Change-Id: Idee8b9871d862bc9f9f8b5a8d0bedc52863e93c0
78 lines
3.0 KiB
C++
78 lines
3.0 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2023 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: keir@google.com (Keir Mierle)
|
|
//
|
|
// A simple example of using the Ceres minimizer.
|
|
//
|
|
// Minimize 0.5 (10 - x)^2 using jacobian matrix computed using
|
|
// automatic differentiation.
|
|
|
|
#include "ceres/ceres.h"
|
|
#include "glog/logging.h"
|
|
|
|
// A templated cost functor that implements the residual r = 10 -
|
|
// x. The method operator() is templated so that we can then use an
|
|
// automatic differentiation wrapper around it to generate its
|
|
// derivatives.
|
|
struct CostFunctor {
|
|
template <typename T>
|
|
bool operator()(const T* const x, T* residual) const {
|
|
residual[0] = 10.0 - x[0];
|
|
return true;
|
|
}
|
|
};
|
|
|
|
int main(int argc, char** argv) {
|
|
google::InitGoogleLogging(argv[0]);
|
|
|
|
// The variable to solve for with its initial value. It will be
|
|
// mutated in place by the solver.
|
|
double x = 0.5;
|
|
const double initial_x = x;
|
|
|
|
// Build the problem.
|
|
ceres::Problem problem;
|
|
|
|
// Set up the only cost function (also known as residual). This uses
|
|
// auto-differentiation to obtain the derivative (jacobian).
|
|
ceres::CostFunction* cost_function =
|
|
new ceres::AutoDiffCostFunction<CostFunctor, 1, 1>();
|
|
problem.AddResidualBlock(cost_function, nullptr, &x);
|
|
|
|
// Run the solver!
|
|
ceres::Solver::Options options;
|
|
options.minimizer_progress_to_stdout = true;
|
|
ceres::Solver::Summary summary;
|
|
ceres::Solve(options, &problem, &summary);
|
|
|
|
std::cout << summary.BriefReport() << "\n";
|
|
std::cout << "x : " << initial_x << " -> " << x << "\n";
|
|
return 0;
|
|
}
|