ceres的學習筆記

剛剛在專案中使用的到了ceres，從完全不了解、到安裝使用解決問題，花費了整整乙個周的時間。所以使用的時候過程中踩了不少的坑，所以特別想記錄下來。

ceres solver 是谷歌開發的一款用於非線性優化的庫，在谷歌的開源雷射雷達slam專案cartographer中被大量使用。ceres的官網比較詳細的使用教程，內容還是挺豐富。

ceres主要用於解決如下的非線性最小二乘的問題

依賴ceres依賴挺多開源庫的，但並不是必須的，可以在構建時關閉相應的依賴。

命令列安裝

安裝依賴

$ sudo apt-get install cmake # google-glog + gflags $ sudo apt-get install libgoogle-glog-dev # blas & lapack $ sudo apt-get install libatlas-base-dev # eigen3 $ sudo apt-get install libeigen3-dev # suitesparse and cxsparse (optional) $ sudo apt-get install libsuitesparse-dev # - however, if you want to build ceres as a *shared* library, you must # add the following ppa: $ sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687 $ sudo apt-get update $ sudo apt-get install libsuitesparse-dev

編譯ceres依賴eigen和glog，因此需要先拉取eigen和glog。

# 拉取glog $ git clone # 修改option # option (with_gflags "use gflags" off) $ vi cmakelists.txt # 開始編譯 $ cmake .. $ make -j4 $ make destdir=./output install # 拉取eigen $ git clone # 拉取ceres $ git clone $ cd ceres-solver # 專案需求，切換到1.13.0版本 $ git checkout 1.13.0 $ git branch * (head detached at 1.13.0) # 根據實際需求，修改option # option(gflags "enable google flags." off) # option(lapack "enable use of lapack." off) # option(openmp "enable threaded solving in ceres (requires openmp)" off) # option(build_testing "enable tests" off) # option(build_examples "build examples" off) vi cmakelist.txt $ mkdir build && cd build # 開始編譯 $ cmake .. $ make -j4 $ make destdir=./output install

$ ls build cmakelists.txt include lib test1.cpp $ ls include ceres eigen glog $ ls lib libceres.a libglog.a

test1.cpp是源自ceres官網的乙個例子：

#include
#include
using
namespace std;
using
namespace ceres;
struct costfunctor};
intmain
(int argc,
char
**ar**)

cmakelist.txt

$ cat cmakelist.txt
cmake_minimum_required(version 3.4)
project(samples cxx)
set(cmake_c_standard 11)
set(cmake_c_standard_required on)
set(cmake_c_extensions off)
# this project requires c++11.
set(cmake_cxx_standard 11)
set(cmake_cxx_standard_required on)
set(cmake_cxx_extensions off)
set(cmake_thread_prefer_pthread true)
set(threads_prefer_pthread_flag true)
find_package (threads required)
add_definitions(-d_glibcxx_use_cxx11_abi=0)
add_compile_options(-wall)
file(glob samples_src_list $/*.cpp)
message(
"$")
link_directories(
$/lib/)
foreach(src $
) string(regex match "[^/]+$" src_file $
) string(replace ".cpp"
"" exe_file_name $
) set(exe_target $_$
) add_executable(
$_$$
) target_include_directories(
$_$ public include) 
target_link_libraries(
$_$$
ceres
glog
)install(targets $_$ runtime destination $/bin)
endforeach(src)

測試

$ ./samples_test1 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.250000e+01 0.00e+00 5.00e+00 0.00e+00 0.00e+00 1.00e+04 0 7.20e-05 1.33e-04 1 1.249750e-07 1.25e+01 5.00e-04 5.00e+00 1.00e+00 3.00e+04 1 6.20e-05 2.84e-04 2 1.388518e-16 1.25e-07 1.67e-08 5.00e-04 1.00e+00 9.00e+04 1 2.19e-05 3.28e-04 ceres solver report: iterations: 3, initial cost: 1.250000e+01, final cost: 1.388518e-16, termination: convergence x : 5 -> 10

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ceres的學習筆記

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