mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
97fb6d9715
1. Document the use of dogleg and a general discussion of trust region methods. 2. Added a TBD section on compiler/linker flags. 3. Summary::FullReport now prints out sparse_linear_algebra_library and trust_region_strategy_type. Change-Id: I01f680070d510715900f345364855689005d54bb
133 lines
3.8 KiB
TeX
133 lines
3.8 KiB
TeX
%%% Build instructions
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%%% pdflatex -shell-escape ceres && bibtex ceres && pdflatex -shell-escape ceres && pdflatex -shell-escape ceres
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\documentclass[11pt,letterpaper,oneside]{memoir}
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\usepackage{fouriernc}
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\usepackage[T1]{fontenc}
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\usepackage{minted,amsmath,amssymb,amsthm,url,booktabs}
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\usepackage[pdftex]{graphicx}
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\usepackage[sort&compress]{natbib}
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\usepackage[breaklinks=true,letterpaper=true,colorlinks,bookmarks=false]{hyperref}
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\usepackage{algorithm}
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\usepackage{algorithmic}
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% page dimensions
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\addtolength{\textwidth}{1.5in}
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\addtolength{\oddsidemargin}{-0.75in}
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\addtolength{\evensidemargin}{-0.75in}
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\addtolength{\spinemargin}{-0.75in}
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\addtolength{\foremargin}{-0.75in}
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\setlength{\parindent}{0.0in}
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\setlength{\parskip}{0.12in}
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% Our pagestyle
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\copypagestyle{ceres}{headings}
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\makeevenhead{ceres}{\thepage}{}{\scshape\rightmark}
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\makeoddhead{ceres}{\scshape\rightmark}{}{\thepage}
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%% ceres chapter style
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\makechapterstyle{ceres}{%
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\renewcommand{\chapterheadstart}{}%
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\renewcommand{\printchaptername}{}%
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\renewcommand{\chapternamenum}{}%
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\renewcommand{\printchapternum}{}%
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\renewcommand{\afterchapternum}{}%
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\renewcommand{\printchaptertitle}[1]{%
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\raggedright\Large\scshape\MakeLowercase{##1}}%
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\renewcommand{\afterchaptertitle}{%
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\vskip\onelineskip \hrule\vskip\onelineskip}%
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}%
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\renewcommand{\cftchapterfont}{\normalfont}%
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\renewcommand{\cftchapterpagefont}{\normalfont}%
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\renewcommand{\cftchapterpresnum}{\bfseries}%
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\renewcommand{\cftchapterleader}{}%
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\renewcommand{\cftchapterafterpnum}{\cftparfillskip}%
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%% Section title style
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\setsecheadstyle{\raggedright\scshape\MakeLowercase}%
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\setbeforesecskip{-\onelineskip}%
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\setaftersecskip{\onelineskip}%
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%% Subsection title style
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\setsubsecheadstyle{\sethangfrom{\noindent ##1}\raggedright\itshape}%
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\setbeforesubsecskip{-\onelineskip}%
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\setaftersubsecskip{\onelineskip}%
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\captiontitlefont{\small\sffamily}%
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\let\caption\legend
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\title{\Huge\scshape
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\MakeLowercase{Ceres Solver: Tutorial \& Reference}
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}
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\author{
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\scshape\MakeLowercase{Sameer Agarwal} \\ \texttt{sameeragarwal@google.com}
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\and
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\scshape\MakeLowercase{Keir Mierle} \\ \texttt{ keir@google.com}
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}
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\checkandfixthelayout
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\pagestyle{ceres}
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\newcommand{\ceres}{{Ceres }}
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\newcommand{\reals}{\mathbb{R} }
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\def\eg{\emph{e.g. }}
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\def\ie{\emph{i.e. }}
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\newcommand{\glog}{\texttt{google-glog}}
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\newcommand{\gflags}{\texttt{gflags}}
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\newcommand{\eigen}{\texttt{Eigen3}}
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\newcommand{\suitesparse}{\texttt{SuiteSparse}}
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\newcommand{\cholmod}{\texttt{CHOLMOD}}
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\newcommand{\amd}{\texttt{AMD}}
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\newcommand{\colamd}{\texttt{COLAMD}}
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\newcommand{\lapack}{\texttt{LAPACK}}
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\newcommand{\blas}{\texttt{BLAS}}
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\newcommand{\denseschur}{\texttt{DENSE\_SCHUR}}
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\newcommand{\sparseschur}{\texttt{SPARSE\_SCHUR}}
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\newcommand{\iterativeschur}{\texttt{ITERATIVE\_SCHUR}}
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\newcommand{\cmake}{\texttt{cmake}}
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\newcommand{\protobuf}{\texttt{protobuf}}
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\settocdepth{chapter}
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\begin{document}
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\chapterstyle{ceres}
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\maketitle
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\thispagestyle{empty}
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\newpage
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\pagestyle{ceres}
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\tableofcontents
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\newpage
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\chapter{A Note to the Reader}
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Building this pdf from source requires a relatively recent installation of \texttt{LaTeX}~\footnote{\url{http://www.tug.org/texlive/}}, \texttt{minted.sty}\footnote{\url{http://code.google.com/p/minted/}} and \texttt{pygments}\footnote{\url{http://pygments.org/}}.
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Despite our best efforts, this manual remains a work in progress and the source code for Ceres Solver remains the ultimate reference.
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\input{changes}
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\input{introduction}
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\input{build}
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%% Tutorial
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\part{Tutorial}
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\label{part:tutorial}
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\input{nnlsq}
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\input{helloworld}
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\input{powell}
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\input{curvefitting}
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\input{bundleadjustment}
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%% Reference
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\part{Reference}
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\label{part:reference}
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\input{reference-overview}
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\input{modeling}
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\input{solving}
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\input{faq}
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\input{further}
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\bibliographystyle{plain}
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\bibliography{ceres}
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\end{document}
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