【环境配置】ceres solver安装
洪楚
1. 安装
# CMake
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)
# - If you want to build Ceres as a *static* library (the default)
# you can use the SuiteSparse package in the main Ubuntu package
# repository:
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
解压进入目录
mkdir ceres-bin
cd ceres-bin
cmake ../ #这里文件夹名字要根据实际的文件夹名字更改
make -j3
make test
sudo make install
测试
bin/simple_bundle_adjuster ../data/problem-16-22106-pre.txt
rock@hero:~/ceres-solver-master/ceres-bin$ bin/simple_bundle_adjuster ../data/problem-16-22106-pre.txt
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 9.68e-02 2.32e-01
1 1.062590e+05 4.08e+06 8.99e+06 5.36e+02 9.82e-01 3.00e+04 1 1.83e-01 4.15e-01
2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 1.74e-01 5.90e-01
3 1.899774e+04 3.09e+04 1.60e+06 1.24e+02 9.77e-01 9.26e+04 1 1.75e-01 7.65e-01
4 1.808729e+04 9.10e+02 3.97e+05 6.39e+01 9.51e-01 2.78e+05 1 1.74e-01 9.39e-01
5 1.803399e+04 5.33e+01 1.48e+04 1.23e+01 9.99e-01 8.33e+05 1 1.75e-01 1.11e+00
6 1.803390e+04 9.02e-02 6.35e+01 8.00e-01 1.00e+00 2.50e+06 1 1.74e-01 1.29e+00
Solver Summary (v 2.0.0-eigen-(3.4.90)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-eigensparse-no_openmp)
Original Reduced
Parameter blocks 22122 22122
Parameters 66462 66462
Residual blocks 83718 83718
Residuals 167436 167436
Minimizer TRUST_REGION
Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 1 1
Linear solver ordering AUTOMATIC 22106,16
Schur structure 2,3,9 2,3,9
Cost:
Initial 4.185660e+06
Final 1.803390e+04
Change 4.167626e+06
Minimizer iterations 7
Successful steps 7
Unsuccessful steps 0
Time (in seconds):
Preprocessor 0.135492
Residual only evaluation 0.110376 (7)
Jacobian & residual evaluation 0.534724 (7)
Linear solver 0.468559 (7)
Minimizer 1.247150
Postprocessor 0.003850
Total 1.386492
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769766e-09 <= 1.000000e-06)
rock@hero:~/ceres-solver-master/ceres-bin$
2.clion 测试
#include<iostream>
#include<ceres/ceres.h>
using namespace std;
using namespace ceres;
//第一部分：构建代价函数，重载（）符号，仿函数的小技巧
struct CostFunctor {
template <typename T>
bool operator()(const T* const x, T* residual) const {
residual[0] = T(10.0) - x[0];
return true;
}
};
//主函数
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[0]);
// 寻优参数x的初始值，为5
double initial_x = 5.0;
double x = initial_x;
// 第二部分：构建寻优问题
Problem problem;
CostFunction* cost_function =
new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor); //使用自动求导，将之前的代价函数结构体传入，第一个1是输出维度，即残差的维度，第二个1是输入维度，即待寻优参数x的维度。
problem.AddResidualBlock(cost_function, NULL, &x); //向问题中添加误差项，本问题比较简单，添加一个就行。
//第三部分： 配置并运行求解器
Solver::Options options;
options.linear_solver_type = ceres::DENSE_QR; //配置增量方程的解法
options.minimizer_progress_to_stdout = true;//输出到cout
Solver::Summary summary;//优化信息
Solve(options, &problem, &summary);//求解!!!
std::cout << summary.BriefReport() << "\n";//输出优化的简要信息
//最终结果
std::cout << "x : " << initial_x
<< " -> " << x << "\n";
return 0;
}
cmake_minimum_required(VERSION 3.17)
project(untitled)
set(CMAKE_CXX_FLAGS "-std=c++14")
# 定义自己编译的Ceres的库目录
set(Ceres_LIBS_DIR /usr/local/lib)
# 定义CeresConfig.cmake所在文件目录
set(Ceres_DIR ${Ceres_LIBS_DIR}/cmake/Ceres)
# 找Ceres库
find_package(Ceres REQUIRED)
message(STATUS "Found Ceres: ${CERES_FOUND}")
message(STATUS " Ceres Include Dirs: ${CERES_INCLUDE_DIRS}")
message(STATUS " Ceres Libs: ${CERES_LIBRARIES}")
# 添加包含目录
include_directories(${CERES_INCLUDE_DIRS})
add_executable(${PROJECT_NAME} main.cpp)
# 定义需要的库
# ${CERES_LIBRARIES}只有一项ceres，后面很多库都没有。。。所以需要自己定义需要链接那些库。
set(LIBS ${Ceres_LIBS_DIR}/libceres.a umfpack cxsparse glog gflags gomp
ccolamd btf klu cholmod lapack blas camd amd pthread)
target_link_libraries(${PROJECT_NAME} ${LIBS})
编译运行
====================[ Build | all | Debug ]=====================================
/home/rock/clion-2020.2/bin/cmake/linux/bin/cmake --build /home/rock/CLionProjects/untitled/cmake-build-debug --target all -- -j 12
[100%] Built target untitled
Build finished
/home/rock/CLionProjects/untitled/cmake-build-debug/untitled
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 2.19e-05 5.89e-05
1 1.249750e-07 1.25e+01 5.00e-04 5.00e+00 1.00e+00 3.00e+04 1 5.70e-05 1.68e-04
2 1.388518e-16 1.25e-07 1.67e-08 5.00e-04 1.00e+00 9.00e+04 1 1.31e-05 1.96e-04
Ceres Solver Report: Iterations: 3, Initial cost: 1.250000e+01, Final cost: 1.388518e-16, Termination: CONVERGENCE
x : 5 -> 10
Process finished with exit code 0
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