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ceres-solver 文档 pdf 版

ceres

ceres-solver

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CERES SOLVER: TUTORIAL & REFERENCE

SAMEER AGARWAL

sameeragarwal@google.com

KEIR MIERLE

keir@google.com

November 17, 2012

CONTENTS

Contents 2

1 A Note to the Reader 3

2 Version History 4

3 Introduction 12

4 License 14

5 Building Ceres 15

I Tutorial 23

6 Non-linear Least Squares 24

7 Hello World! 25

8 Powell’s Function 28

9 Fitting a Curve to Data 31

10 Bundle Adjustment 34

II Reference 38

11 Overview 39

12 Modeling 40

13 Solving 53

14 Frequently Asked Questions 70

15 Further Reading 72

Bibliography 73

A NOTE TO THE READER

Building this pdf from source requires a relatively recent installation of LaTeX

, minted.sty

and

pygments

Despite our best efforts, this manual remains a work in progress and the source code for Ceres Solver

remains the ultimate reference.

http://www.tug.org/texlive/

http://code.google.com/p/minted/

http://pygments.org/

VERSION HISTORY

1.4.0

API Changes

The new ordering API breaks existing code. Here the common case ﬁxes.

Before

options.linear_solver_type = ceres::DENSE_SCHUR

options.ordering_type = ceres::SCHUR

After

options.linear_solver_type = ceres::DENSE_SCHUR

Before

options.linear_solver_type = ceres::DENSE_SCHUR;

options.ordering_type = ceres::USER;

for (int i = 0; i < num_points; ++i) {

options.ordering.push_back(my_points[i])

}

for (int i = 0; i < num_cameras; ++i) {

options.ordering.push_back(my_cameras[i])

}

options.num_eliminate_blocks = num_points;

After

options.linear_solver_type = ceres::DENSE_SCHUR;

options.ordering = new ceres::ParameterBlockOrdering;

for (int i = 0; i < num_points; ++i) {

options.linear_solver_ordering->AddElementToGroup(my_points[i], 0);

}

for (int i = 0; i < num_cameras; ++i) {

options.linear_solver_ordering->AddElementToGroup(my_cameras[i], 1);

}

CHAPTER 2. VERSION HISTORY 5

New Features

• A new richer, more expressive and consistent API for ordering parameter blocks.

• A non-linear generalization of Ruhe & Wedin’s Algorithm II. This allows the user to use variable

projection on separable and non-separable non-linear least squares problems. With multithread-

ing, this results in signiﬁcant improvements to the convergence behavior of the solver at a small

increase in run time.

• An image denoising example using ﬁelds of experts. (Petter Strandmark)

• Deﬁnes for Ceres version and ABI version.

• Higher precision timer code where available. (Petter Strandmark)

• Example Makeﬁle for users of Ceres.

• IterationSummary now informs the user when the step is a non-monotonic step.

• Fewer memory allocations when using DenseQRSolver.

• GradientChecker for testing CostFunctions (William Rucklidge)

• Add support for cost functions with 10 parameter blocks in Problem. (Fisher)

• Add support for 10 parameter blocks in AutoDiffCostFunction.

Bug Fixes

• static cast to force Eigen::Index to long conversion

• Change LOG(ERROR) to LOG(WARNING) in schur_complement_solver.cc.

• Remove verbose logging from DenseQRSolve.

• Fix the Android NDK build.

• Better handling of empty and constant Problems.

• Remove an internal header that was leaking into the public API.

• Memory leak in trust_region_minimizer.cc

• Schur ordering was operating on the wrong object (Ricardo Martin)

剩余73页未读，继续阅读

Ceres Solver 2020 文档.pdf

ceres源码及依赖.rar

Ceres Solver是一个C++环境下的非线性最小二乘问题的求解工具包，可用来建模并解决大型复杂的非线性最小二乘问题。这个工具包已经广泛被用于很多商业软件中。编译ceres-solver需要依赖eigen、gflags和glog三个库.

ceres-windows.rar

windows+vs2019编译好的ceres-solve库，压缩包中包含编译好的Eigen、glog、gflags、CXSparse-master和ceres，均包含debug和release两种版本

- Ceres-Solve计算库安装方式：[编译安装](https://github.com/ceres-solver/ceres-solver/releases/tag/2.1.0)

你可以按照以下步骤进行Ceres-Solver计算库的编译安装： 1. 首先，确保你的系统已经安装了必要的依赖项，包括cmake、eigen3和suitesparse。...如果需要更详细的安装说明或者其他帮助，请参考Ceres-Solver的官方文档。

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Ceres Solver 2020 文档.pdf

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