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-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// 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"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
-// Author: sameeragarwal@google.com (Sameer Agarwal)
-
-#include "ceres/ceres.h"
-#include "gflags/gflags.h"
-
-using ceres::AutoDiffCostFunction;
-using ceres::CostFunction;
-using ceres::Problem;
-using ceres::Solver;
-using ceres::Solve;
-
-// Data generated using the following octave code.
-// randn('seed', 23497);
-// m = 0.3;
-// c = 0.1;
-// x=[0:0.075:5];
-// y = exp(m * x + c);
-// noise = randn(size(x)) * 0.2;
-// y_observed = y + noise;
-// data = [x', y_observed'];
-
-const int kNumObservations = 67;
-const double data[] = {
- 0.000000e+00, 1.133898e+00,
- 7.500000e-02, 1.334902e+00,
- 1.500000e-01, 1.213546e+00,
- 2.250000e-01, 1.252016e+00,
- 3.000000e-01, 1.392265e+00,
- 3.750000e-01, 1.314458e+00,
- 4.500000e-01, 1.472541e+00,
- 5.250000e-01, 1.536218e+00,
- 6.000000e-01, 1.355679e+00,
- 6.750000e-01, 1.463566e+00,
- 7.500000e-01, 1.490201e+00,
- 8.250000e-01, 1.658699e+00,
- 9.000000e-01, 1.067574e+00,
- 9.750000e-01, 1.464629e+00,
- 1.050000e+00, 1.402653e+00,
- 1.125000e+00, 1.713141e+00,
- 1.200000e+00, 1.527021e+00,
- 1.275000e+00, 1.702632e+00,
- 1.350000e+00, 1.423899e+00,
- 1.425000e+00, 1.543078e+00,
- 1.500000e+00, 1.664015e+00,
- 1.575000e+00, 1.732484e+00,
- 1.650000e+00, 1.543296e+00,
- 1.725000e+00, 1.959523e+00,
- 1.800000e+00, 1.685132e+00,
- 1.875000e+00, 1.951791e+00,
- 1.950000e+00, 2.095346e+00,
- 2.025000e+00, 2.361460e+00,
- 2.100000e+00, 2.169119e+00,
- 2.175000e+00, 2.061745e+00,
- 2.250000e+00, 2.178641e+00,
- 2.325000e+00, 2.104346e+00,
- 2.400000e+00, 2.584470e+00,
- 2.475000e+00, 1.914158e+00,
- 2.550000e+00, 2.368375e+00,
- 2.625000e+00, 2.686125e+00,
- 2.700000e+00, 2.712395e+00,
- 2.775000e+00, 2.499511e+00,
- 2.850000e+00, 2.558897e+00,
- 2.925000e+00, 2.309154e+00,
- 3.000000e+00, 2.869503e+00,
- 3.075000e+00, 3.116645e+00,
- 3.150000e+00, 3.094907e+00,
- 3.225000e+00, 2.471759e+00,
- 3.300000e+00, 3.017131e+00,
- 3.375000e+00, 3.232381e+00,
- 3.450000e+00, 2.944596e+00,
- 3.525000e+00, 3.385343e+00,
- 3.600000e+00, 3.199826e+00,
- 3.675000e+00, 3.423039e+00,
- 3.750000e+00, 3.621552e+00,
- 3.825000e+00, 3.559255e+00,
- 3.900000e+00, 3.530713e+00,
- 3.975000e+00, 3.561766e+00,
- 4.050000e+00, 3.544574e+00,
- 4.125000e+00, 3.867945e+00,
- 4.200000e+00, 4.049776e+00,
- 4.275000e+00, 3.885601e+00,
- 4.350000e+00, 4.110505e+00,
- 4.425000e+00, 4.345320e+00,
- 4.500000e+00, 4.161241e+00,
- 4.575000e+00, 4.363407e+00,
- 4.650000e+00, 4.161576e+00,
- 4.725000e+00, 4.619728e+00,
- 4.800000e+00, 4.737410e+00,
- 4.875000e+00, 4.727863e+00,
- 4.950000e+00, 4.669206e+00,
-};
-
-class ExponentialResidual {
- public:
- ExponentialResidual(double x, double y)
- : x_(x), y_(y) {}
-
- template <typename T> bool operator()(const T* const m,
- const T* const c,
- T* residual) const {
- residual[0] = T(y_) - exp(m[0] * T(x_) + c[0]);
- return true;
- }
-
- private:
- const double x_;
- const double y_;
-};
-
-int main(int argc, char** argv) {
- google::ParseCommandLineFlags(&argc, &argv, true);
- google::InitGoogleLogging(argv[0]);
-
- double m = 0.0;
- double c = 0.0;
-
- Problem problem;
- for (int i = 0; i < kNumObservations; ++i) {
- problem.AddResidualBlock(
- new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
- new ExponentialResidual(data[2 * i], data[2 * i + 1])),
- NULL,
- &m, &c);
- }
-
- Solver::Options options;
- options.max_num_iterations = 25;
- options.linear_solver_type = ceres::DENSE_QR;
- options.minimizer_progress_to_stdout = true;
-
- Solver::Summary summary;
- Solve(options, &problem, &summary);
- std::cout << summary.BriefReport() << "\n";
- std::cout << "Initial m: " << 0.0 << " c: " << 0.0 << "\n";
- std::cout << "Final m: " << m << " c: " << c << "\n";
- return 0;
-}