Tutorials on Ceres Solver for the RRC Summer School

This tutorial is intended to introduce beginners to the use of ceres solver to solve optimization problems.

It consists of three simple examples.

Example1.cpp is a Hello World program of Ceres, where an unconstrained optimization is performed to obtain the roots of a quadratic equation.

Example2.cpp is a further extension where Ceres is used to solve a system of equations.

Example3.cpp explanins the structure of the program, that can be followed to implement Bundle Adjustment.

Please check the g2o_tutorials branch for the excercies on g2o.

Setup and Installation Instructions

1. Install ROS (We encourage students to setup their programs as a ROS package).
2. Create a workspace

mkdir Ceres_ws
cd Ceres_ws
mkdir src
catkin_make

3. Follow Instructions Here to install Ceres Solver.
4. Installation and Running the package

cd src
git clone https://github.com/sudarshan-s-harithas/Ceres_Tutorials.git
catkin_make 

5. Execution of the Program

Run the following commands from the Ceres_ws directory.

source devel/setup.bash
rosrun ceres_tutorials Ceres_example1
rosrun ceres_tutorials Ceres_example2
rosrun ceres_tutorials Ceres_example3