mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
3712650941
Remove "using ceres:foo" directives from example code. The using directives actually make the code harder to read unless you already know the ceres API. By making the namespace explicit it is clear to the reader that these are functions and objects from the Ceres API. Change-Id: I89b1281c754bf71c0f82e39e1607c5e40a148388
88 lines
3.3 KiB
C++
88 lines
3.3 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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//
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// A simple example of optimizing a sampled function by using cubic
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// interpolation.
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#include "ceres/ceres.h"
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#include "ceres/cubic_interpolation.h"
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#include "glog/logging.h"
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using Interpolator = ceres::CubicInterpolator<ceres::Grid1D<double>>;
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// A simple cost functor that interfaces an interpolated table of
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// values with automatic differentiation.
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struct InterpolatedCostFunctor {
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explicit InterpolatedCostFunctor(const Interpolator& interpolator)
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: interpolator_(interpolator) {}
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template <typename T>
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bool operator()(const T* x, T* residuals) const {
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interpolator_.Evaluate(*x, residuals);
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return true;
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}
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static ceres::CostFunction* Create(const Interpolator& interpolator) {
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return new ceres::AutoDiffCostFunction<InterpolatedCostFunctor, 1, 1>(
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new InterpolatedCostFunctor(interpolator));
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}
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private:
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const Interpolator& interpolator_;
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};
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int main(int argc, char** argv) {
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google::InitGoogleLogging(argv[0]);
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// Evaluate the function f(x) = (x - 4.5)^2;
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const int kNumSamples = 10;
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double values[kNumSamples];
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for (int i = 0; i < kNumSamples; ++i) {
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values[i] = (i - 4.5) * (i - 4.5);
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}
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ceres::Grid1D<double> array(values, 0, kNumSamples);
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Interpolator interpolator(array);
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double x = 1.0;
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ceres::Problem problem;
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ceres::CostFunction* cost_function =
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InterpolatedCostFunctor::Create(interpolator);
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problem.AddResidualBlock(cost_function, nullptr, &x);
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ceres::Solver::Options options;
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options.minimizer_progress_to_stdout = true;
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ceres::Solver::Summary summary;
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ceres::Solve(options, &problem, &summary);
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std::cout << summary.BriefReport() << "\n";
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std::cout << "Expected x: 4.5. Actual x : " << x << std::endl;
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return 0;
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}
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