| // Ceres Solver - A fast non-linear least squares minimizer | |
| // Copyright 2021 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. | |
| // * Neither the name of Google Inc. nor the names of its contributors may be | |
| // used to endorse or promote products derived from this software without | |
| // specific prior written permission. | |
| // | |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
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| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | |
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| // | |
| // Author: sameeragarwal@google.com (Sameer Agarwal) | |
| // f(x,y) = (1-x)^2 + 100(y - x^2)^2; | |
| struct Rosenbrock { | |
| bool operator()(const double* parameters, double* cost) const { | |
| const double x = parameters[0]; | |
| const double y = parameters[1]; | |
| cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x); | |
| return true; | |
| } | |
| static ceres::FirstOrderFunction* Create() { | |
| constexpr int kNumParameters = 2; | |
| return new ceres::NumericDiffFirstOrderFunction<Rosenbrock, | |
| ceres::CENTRAL, | |
| kNumParameters>( | |
| new Rosenbrock); | |
| } | |
| }; | |
| int main(int argc, char** argv) { | |
| google::InitGoogleLogging(argv[0]); | |
| double parameters[2] = {-1.2, 1.0}; | |
| ceres::GradientProblemSolver::Options options; | |
| options.minimizer_progress_to_stdout = true; | |
| ceres::GradientProblemSolver::Summary summary; | |
| ceres::GradientProblem problem(Rosenbrock::Create()); | |
| ceres::Solve(options, problem, parameters, &summary); | |
| std::cout << summary.FullReport() << "\n"; | |
| std::cout << "Initial x: " << -1.2 << " y: " << 1.0 << "\n"; | |
| std::cout << "Final x: " << parameters[0] << " y: " << parameters[1] | |
| << "\n"; | |
| return 0; | |
| } | |