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Keir Mierle
2012-04-30 23:09:08 -07:00
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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: keir@google.com (Keir Mierle)
#include "ceres/numeric_diff_cost_function.h"
#include <algorithm>
#include <cmath>
#include <string>
#include <vector>
#include <glog/logging.h>
#include "gtest/gtest.h"
#include "ceres/stringprintf.h"
#include "ceres/test_util.h"
#include "ceres/cost_function.h"
#include "ceres/internal/macros.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/types.h"
namespace ceres {
namespace internal {
// y1 = x1'x2 -> dy1/dx1 = x2, dy1/dx2 = x1
// y2 = (x1'x2)^2 -> dy2/dx1 = 2 * x2 * (x1'x2), dy2/dx2 = 2 * x1 * (x1'x2)
// y3 = x2'x2 -> dy3/dx1 = 0, dy3/dx2 = 2 * x2
class TestCostFunction : public CostFunction {
public:
TestCostFunction() {
set_num_residuals(3);
mutable_parameter_block_sizes()->push_back(5); // x1.
mutable_parameter_block_sizes()->push_back(5); // x2.
}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
(void) jacobians; // Ignored.
residuals[0] = residuals[1] = residuals[2] = 0;
for (int i = 0; i < 5; ++i) {
residuals[0] += parameters[0][i] * parameters[1][i];
residuals[2] += parameters[1][i] * parameters[1][i];
}
residuals[1] = residuals[0] * residuals[0];
return true;
}
};
TEST(NumericDiffCostFunction, EasyCase) {
// Try both central and forward difference.
internal::scoped_ptr<CostFunction> cfs[2];
cfs[0].reset(
new NumericDiffCostFunction<TestCostFunction,
CENTRAL,
3, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new TestCostFunction, TAKE_OWNERSHIP));
cfs[1].reset(
new NumericDiffCostFunction<TestCostFunction,
FORWARD,
3, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new TestCostFunction, TAKE_OWNERSHIP));
for (int c = 0; c < 2; ++c) {
CostFunction *cost_function = cfs[c].get();
double x1[] = { 1.0, 2.0, 3.0, 4.0, 5.0 };
double x2[] = { 9.0, 9.0, 5.0, 5.0, 1.0 };
double *parameters[] = { &x1[0], &x2[0] };
double dydx1[15]; // 3 x 5, row major.
double dydx2[15]; // 3 x 5, row major.
double *jacobians[2] = { &dydx1[0], &dydx2[0] };
double residuals[3] = {-1e-100, -2e-100, -3e-100 };
ASSERT_TRUE(cost_function->Evaluate(&parameters[0],
&residuals[0],
&jacobians[0]));
EXPECT_EQ(residuals[0], 67);
EXPECT_EQ(residuals[1], 4489);
EXPECT_EQ(residuals[2], 213);
for (int i = 0; i < 5; ++i) {
LOG(INFO) << "c = " << c << " i = " << i;
const double kEps = c == 0 ? /* central */ 3e-9 : /* forward */ 2e-5;
ExpectClose(x2[i], dydx1[5 * 0 + i], kEps); // y1
ExpectClose(x1[i], dydx2[5 * 0 + i], kEps);
ExpectClose(2 * x2[i] * residuals[0], dydx1[5 * 1 + i], kEps); // y2
ExpectClose(2 * x1[i] * residuals[0], dydx2[5 * 1 + i], kEps);
ExpectClose(0.0, dydx1[5 * 2 + i], kEps); // y3
ExpectClose(2 * x2[i], dydx2[5 * 2 + i], kEps);
}
}
}
// y1 = sin(x1'x2)
// y2 = exp(-x1'x2 / 10)
//
// dy1/dx1 = x2 * cos(x1'x2), dy1/dx2 = x1 * cos(x1'x2)
// dy2/dx1 = -x2 * exp(-x1'x2 / 10) / 10, dy2/dx2 = -x2 * exp(-x1'x2 / 10) / 10
class TranscendentalTestCostFunction : public CostFunction {
public:
TranscendentalTestCostFunction() {
set_num_residuals(2);
mutable_parameter_block_sizes()->push_back(5); // x1.
mutable_parameter_block_sizes()->push_back(5); // x2.
}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
(void) jacobians; // Ignored.
double x1x2 = 0;
for (int i = 0; i < 5; ++i) {
x1x2 += parameters[0][i] * parameters[1][i];
}
residuals[0] = sin(x1x2);
residuals[1] = exp(-x1x2 / 10);
return true;
}
};
TEST(NumericDiffCostFunction, TransendentalOperationsInCostFunction) {
// Try both central and forward difference.
internal::scoped_ptr<CostFunction> cfs[2];
cfs[0].reset(
new NumericDiffCostFunction<TranscendentalTestCostFunction,
CENTRAL,
2, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new TranscendentalTestCostFunction, TAKE_OWNERSHIP));
cfs[1].reset(
new NumericDiffCostFunction<TranscendentalTestCostFunction,
FORWARD,
2, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new TranscendentalTestCostFunction, TAKE_OWNERSHIP));
for (int c = 0; c < 2; ++c) {
CostFunction *cost_function = cfs[c].get();
struct {
double x1[5];
double x2[5];
} kTests[] = {
{ { 1.0, 2.0, 3.0, 4.0, 5.0 }, // No zeros.
{ 9.0, 9.0, 5.0, 5.0, 1.0 },
},
{ { 0.0, 2.0, 3.0, 0.0, 5.0 }, // Some zeros x1.
{ 9.0, 9.0, 5.0, 5.0, 1.0 },
},
{ { 1.0, 2.0, 3.0, 1.0, 5.0 }, // Some zeros x2.
{ 0.0, 9.0, 0.0, 5.0, 0.0 },
},
{ { 0.0, 0.0, 0.0, 0.0, 0.0 }, // All zeros x1.
{ 9.0, 9.0, 5.0, 5.0, 1.0 },
},
{ { 1.0, 2.0, 3.0, 4.0, 5.0 }, // All zeros x2.
{ 0.0, 0.0, 0.0, 0.0, 0.0 },
},
{ { 0.0, 0.0, 0.0, 0.0, 0.0 }, // All zeros.
{ 0.0, 0.0, 0.0, 0.0, 0.0 },
},
};
for (int k = 0; k < ARRAYSIZE(kTests); ++k) {
double *x1 = &(kTests[k].x1[0]);
double *x2 = &(kTests[k].x2[0]);
double *parameters[] = { x1, x2 };
double dydx1[10];
double dydx2[10];
double *jacobians[2] = { &dydx1[0], &dydx2[0] };
double residuals[2];
ASSERT_TRUE(cost_function->Evaluate(&parameters[0],
&residuals[0],
&jacobians[0]));
LOG(INFO) << "Ran evaluate for test k=" << k << " c=" << c;
double x1x2 = 0;
for (int i = 0; i < 5; ++i) {
x1x2 += x1[i] * x2[i];
}
for (int i = 0; i < 5; ++i) {
const double kEps = c == 0 ? /* central */ 3e-9 : /* forward */ 2e-5;
ExpectClose( x2[i] * cos(x1x2), dydx1[5 * 0 + i], kEps);
ExpectClose( x1[i] * cos(x1x2), dydx2[5 * 0 + i], kEps);
ExpectClose(-x2[i] * exp(-x1x2 / 10.) / 10., dydx1[5 * 1 + i], kEps);
ExpectClose(-x1[i] * exp(-x1x2 / 10.) / 10., dydx2[5 * 1 + i], kEps);
}
}
}
}
} // namespace internal
} // namespace ceres