MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/examples/sampled_function.cc
2019-01-03 16:25:18 +08:00

95 lines
3.5 KiB
C++

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 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.
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// 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
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// A simple example of optimizing a sampled function by using cubic
// interpolation.
#include "ceres/ceres.h"
#include "ceres/cubic_interpolation.h"
#include "glog/logging.h"
using ceres::Grid1D;
using ceres::CubicInterpolator;
using ceres::AutoDiffCostFunction;
using ceres::CostFunction;
using ceres::Problem;
using ceres::Solver;
using ceres::Solve;
// A simple cost functor that interfaces an interpolated table of
// values with automatic differentiation.
struct InterpolatedCostFunctor {
explicit InterpolatedCostFunctor(
const CubicInterpolator<Grid1D<double> >& interpolator)
: interpolator_(interpolator) {
}
template<typename T> bool operator()(const T* x, T* residuals) const {
interpolator_.Evaluate(*x, residuals);
return true;
}
static CostFunction* Create(
const CubicInterpolator<Grid1D<double> >& interpolator) {
return new AutoDiffCostFunction<InterpolatedCostFunctor, 1, 1>(
new InterpolatedCostFunctor(interpolator));
}
private:
const CubicInterpolator<Grid1D<double> >& interpolator_;
};
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[0]);
// Evaluate the function f(x) = (x - 4.5)^2;
const int kNumSamples = 10;
double values[kNumSamples];
for (int i = 0; i < kNumSamples; ++i) {
values[i] = (i - 4.5) * (i - 4.5);
}
Grid1D<double> array(values, 0, kNumSamples);
CubicInterpolator<Grid1D<double> > interpolator(array);
double x = 1.0;
Problem problem;
CostFunction* cost_function = InterpolatedCostFunctor::Create(interpolator);
problem.AddResidualBlock(cost_function, NULL, &x);
Solver::Options options;
options.minimizer_progress_to_stdout = true;
Solver::Summary summary;
Solve(options, &problem, &summary);
std::cout << summary.BriefReport() << "\n";
std::cout << "Expected x: 4.5. Actual x : " << x << std::endl;
return 0;
}