Initial commit of Ceres Solver.

2026-08-29 08:34:37 +08:00 · 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: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cmath>
+
+#include "gtest/gtest.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/residual_block_utils.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+// Routine to check if ResidualBlock::Evaluate for unary CostFunction
+// with one residual succeeds with true or dies.
+void CheckEvaluation(const CostFunction& cost_function, bool is_good) {
+  double x = 1.0;
+  ParameterBlock parameter_block(&x, 1);
+  vector<ParameterBlock*> parameter_blocks;
+  parameter_blocks.push_back(&parameter_block);
+
+  ResidualBlock residual_block(&cost_function,
+                               NULL,
+                               parameter_blocks);
+
+  scoped_array<double> scratch(
+      new double[residual_block.NumScratchDoublesForEvaluate()]);
+
+  double cost;
+  double residuals;
+  double jacobian;
+  double* jacobians[] = { &jacobian };
+
+  EXPECT_EQ(residual_block.Evaluate(&cost,
+                                    &residuals,
+                                    jacobians,
+                                    scratch.get()), is_good);
+}
+
+// A CostFunction that behaves normaly, i.e., it computes numerically
+// valid residuals and jacobians.
+class GoodCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = 1;
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = 0.0;
+    }
+    return true;
+  }
+};
+
+// The following four CostFunctions simulate the different ways in
+// which user code can cause ResidualBlock::Evaluate to fail.
+class NoResidualUpdateCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    // Forget to update the residuals.
+    // residuals[0] = 1;
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = 0.0;
+    }
+    return true;
+  }
+};
+
+class NoJacobianUpdateCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = 1;
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      // Forget to update the jacobians.
+      // jacobians[0][0] = 0.0;
+    }
+    return true;
+  }
+};
+
+class BadResidualCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = 1.0/0.0;
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = 0.0;
+    }
+    return true;
+  }
+};
+
+class BadJacobianCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = 1.0;
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = 1.0/0.0;
+    }
+    return true;
+  }
+};
+
+TEST(ResidualBlockUtils, IsArrayValid) {
+  double x[3];
+  x[0] = 0.0;
+  x[1] = 1.0;
+  x[2] = 2.0;
+  EXPECT_TRUE(IsArrayValid(3, x));
+  x[1] = 1.0/0.0;
+  EXPECT_FALSE(IsArrayValid(3, x));
+  x[1] = 0.0/0.0;
+  EXPECT_FALSE(IsArrayValid(3, x));
+  EXPECT_TRUE(IsArrayValid(1, NULL));
+  InvalidateArray(3, x);
+  EXPECT_FALSE(IsArrayValid(3, x));
+}
+
+// Note: It is preferable to write the below test as:
+//
+//  CheckEvaluation(GoodCostFunction(), true);
+//  CheckEvaluation(NoResidualUpdateCostFunction(), false);
+//  CheckEvaluation(NoJacobianUpdateCostFunction(), false);
+//  ...
+//
+// however, there is a bug in the version of GCC on Mac OS X we tested, which
+// requires the objects get put into local variables instead of getting
+// instantiated on the stack.
+TEST(ResidualBlockUtils, CheckAllCombinationsOfBadness) {
+  GoodCostFunction good_fun;
+  CheckEvaluation(good_fun, true);
+  NoResidualUpdateCostFunction no_residual;
+  CheckEvaluation(no_residual, false);
+  NoJacobianUpdateCostFunction no_jacobian;
+  CheckEvaluation(no_jacobian, false);
+  BadResidualCostFunction bad_residual;
+  CheckEvaluation(bad_residual, false);
+  BadJacobianCostFunction bad_jacobian;
+  CheckEvaluation(bad_jacobian, false);
+}
+
+}  // namespace internal
+}  // namespace ceres