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non-linear least square problem
http://ceres-solver.org/nnls_tutorial.html -
how to regularized nonlinear least squares?
https://groups.google.com/g/ceres-solver/c/vkv7nixkIYU?pli=1
ceres::Problem problem;
ceres::Solver::Options options;
ceres::Solver::Summary summary;
problem和option
定义问题+优化选项, summary为优化过程的verbose
ResidualBlockId AddResidualBlock(
CostFunction* cost_function, # 代价函数
LossFunction* loss_function, # 损失函数
const std::vector<double*>& parameter_blocks); # 参数列表
loss_function can be nullptr, in which case the cost of the term is just the squared norm of the residuals.
即loss_function在未指定(nullptr)的情况下，即为residual的平方范数
cost_function和loss_function和Problem类(或实例化的对象)进行链接
loss_function通常用于减少outlier对cost_function的影响