Ceres Solver 中文文档
  • 😜Ceres Solver 中文文档
  • Why Ceres ?
  • Installation
  • Tutorial
    • Non-linear Least Squares
      • Introduction
      • Hello World
      • Derivatives
        • Numeric Derivatives
        • Analytic Derivatives
        • More About Derivatives
      • Powell’s Function
      • Curve Fitting
      • Robust Curve Fitting
      • Bundle Adjustment
      • Other Examples
    • General Unconstrained Minimization
      • General Unconstrained Minimization
  • On Derivatives
    • Spivak Notation
    • Analytic Derivatives
    • Numeric Derivatives
    • Automatic Derivatives
    • Interfacing with Automatic Differentiation
    • Using Inverse & Implicit Function Theorems
  • Modeling Non-linear Least Squares
    • Introduction
    • Main Class Interface
      • CostFunction
      • SizeCostFunction
      • AutoDiffCostFunction
      • DynamicAutoDiffCostFunction
      • NumericDiffCostFunction
      • DynamicNumericDifferCostFunction
      • CostFunctionToFunctor
      • DynamicCostFunctionToFunctor
      • ConditionedCostFunction
      • GradientChecker
      • NormalPrior
      • LossFunction
      • Manifold
      • AutoDIffManifold
      • Problem
      • EvaluatationCallback
      • Rotation
      • Cubic Interpolation
        • CubicInterpolator
        • BiCubicInterpolator
  • Solveing Non-linear Least Squares
    • Introduction
    • Trust Region Methodd
    • Line Search Methods
    • Linear Solvers
    • Mixed Precision Solves
    • Preconditioners
    • Ordering
    • Main Class Interfaces
      • Solver::Options
      • ParameterBlockOrdering
      • IterationSummary
      • IterationCallback
      • CRSMatrix
      • Solver::Summary
  • Covariance Estimation
    • Introduction
    • Gauge Invariance
    • Covariance
    • Rank of the Jacobian
      • Options
      • Covariance
      • GetCovarianceBlock
      • GetCovarianceBlockInTangentSpace
    • Example Usage
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  1. Tutorial
  2. Non-linear Least Squares
  3. Derivatives

More About Derivatives

PreviousAnalytic DerivativesNextPowell’s Function

Last updated 1 year ago

Computing derivatives is by far the most complicated part of using Ceres, and depending on the circumstance the user may need more sophisticated ways of computing derivatives. This section just scratches the surface of how derivatives can be supplied to Ceres. Once you are comfortable with using NumericDiffCostFunction and AutoDiffCostFunction we recommend taking a look at DynamicAutoDiffCostFunction, CostFunctionToFunctor, NumericDiffFunctor and ConditionedCostFunction for more advanced ways of constructing and computing cost functions.

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