I strongly recommend reading the documentation for Ceres Solver [1]. It is intuitive and in-depth, and references everything you will need. 1. http://ceres-sol

I strongly recommend reading the documentation for Ceres Solver [1]. It is intuitive and in-depth, and references everything you will need. 1. http://ceres-solver.org/nnls_solving.html#trust-region-methods http://ceres-solver.org/nnls_solving.html#trust-region-metho...