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ceres-solver/internal/ceres/problem_test.cc
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Keir Mierle 04938efe4b Add support for removing parameter and residual blocks. 
This adds support for removing parameter and residual blocks.
There are two modes of operation: in the first, removals of
paremeter blocks are expensive, since each remove requires
scanning all residual blocks to find ones that depend on the
removed parameter. In the other, extra memory is sacrificed to
maintain a list of the residuals a parameter block depends on,
removing the need to scan. In both cases, removing residual blocks
is fast.

As a caveat, any removals destroys the ordering of the parameters,
so the residuals or jacobian returned from Solver::Solve() is
meaningless. There is some debate on the best way to handle this;
the details remain for a future change.

This also adds some overhead, even in the case that fast removals
are not requested:

- 1 int32 to each residual, to track its position in the program.
- 1 pointer to each parameter, to store the dependent residuals.

Change-Id: I71dcac8656679329a15ee7fc12c0df07030c12af
2013-02-18 15:00:30 -08:00

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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)
// keir@google.com (Keir Mierle)
#include "ceres/problem.h"
#include "ceres/problem_impl.h"
#include "gtest/gtest.h"
#include "ceres/cost_function.h"
#include "ceres/local_parameterization.h"
#include "ceres/map_util.h"
#include "ceres/parameter_block.h"
#include "ceres/program.h"
#include "ceres/sized_cost_function.h"
#include "ceres/internal/scoped_ptr.h"
namespace ceres {
namespace internal {
// The following three classes are for the purposes of defining
// function signatures. They have dummy Evaluate functions.
// Trivial cost function that accepts a single argument.
class UnaryCostFunction : public CostFunction {
public:
UnaryCostFunction(int num_residuals, int16 parameter_block_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block_size);
}
virtual ~UnaryCostFunction() {}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
for (int i = 0; i < num_residuals(); ++i) {
residuals[i] = 1;
}
return true;
}
};
// Trivial cost function that accepts two arguments.
class BinaryCostFunction: public CostFunction {
public:
BinaryCostFunction(int num_residuals,
int16 parameter_block1_size,
int16 parameter_block2_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block1_size);
mutable_parameter_block_sizes()->push_back(parameter_block2_size);
}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
for (int i = 0; i < num_residuals(); ++i) {
residuals[i] = 2;
}
return true;
}
};
// Trivial cost function that accepts three arguments.
class TernaryCostFunction: public CostFunction {
public:
TernaryCostFunction(int num_residuals,
int16 parameter_block1_size,
int16 parameter_block2_size,
int16 parameter_block3_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block1_size);
mutable_parameter_block_sizes()->push_back(parameter_block2_size);
mutable_parameter_block_sizes()->push_back(parameter_block3_size);
}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
for (int i = 0; i < num_residuals(); ++i) {
residuals[i] = 3;
}
return true;
}
};
TEST(Problem, AddResidualWithNullCostFunctionDies) {
double x[3], y[4], z[5];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
problem.AddParameterBlock(z, 5);
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(NULL, NULL, x),
"'cost_function' Must be non NULL");
}
TEST(Problem, AddResidualWithIncorrectNumberOfParameterBlocksDies) {
double x[3], y[4], z[5];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
problem.AddParameterBlock(z, 5);
// UnaryCostFunction takes only one parameter, but two are passed.
EXPECT_DEATH_IF_SUPPORTED(
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x, y),
"parameter_blocks.size()");
}
TEST(Problem, AddResidualWithDifferentSizesOnTheSameVariableDies) {
double x[3];
Problem problem;
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
new UnaryCostFunction(
2, 4 /* 4 != 3 */), NULL, x),
"different block sizes");
}
TEST(Problem, AddResidualWithDuplicateParametersDies) {
double x[3], z[5];
Problem problem;
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
new BinaryCostFunction(2, 3, 3), NULL, x, x),
"Duplicate parameter blocks");
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
new TernaryCostFunction(1, 5, 3, 5),
NULL, z, x, z),
"Duplicate parameter blocks");
}
TEST(Problem, AddResidualWithIncorrectSizesOfParameterBlockDies) {
double x[3], y[4], z[5];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
problem.AddParameterBlock(z, 5);
// The cost function expects the size of the second parameter, z, to be 4
// instead of 5 as declared above. This is fatal.
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
new BinaryCostFunction(2, 3, 4), NULL, x, z),
"different block sizes");
}
TEST(Problem, AddResidualAddsDuplicatedParametersOnlyOnce) {
double x[3], y[4], z[5];
Problem problem;
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
problem.AddResidualBlock(new UnaryCostFunction(2, 5), NULL, z);
EXPECT_EQ(3, problem.NumParameterBlocks());
EXPECT_EQ(12, problem.NumParameters());
}
TEST(Problem, AddParameterWithDifferentSizesOnTheSameVariableDies) {
double x[3], y[4];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(x, 4),
"different block sizes");
}
static double *IntToPtr(int i) {
return reinterpret_cast<double*>(sizeof(double) * i); // NOLINT
}
TEST(Problem, AddParameterWithAliasedParametersDies) {
// Layout is
//
// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
// [x] x x x x [y] y y
// o==o==o o==o==o o==o
// o--o--o o--o--o o--o o--o--o
//
// Parameter block additions are tested as listed above; expected successful
// ones marked with o==o and aliasing ones marked with o--o.
Problem problem;
problem.AddParameterBlock(IntToPtr(5), 5); // x
problem.AddParameterBlock(IntToPtr(13), 3); // y
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 2),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 3),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 9),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 8), 3),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(12), 2),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(14), 3),
"Aliasing detected");
// These ones should work.
problem.AddParameterBlock(IntToPtr( 2), 3);
problem.AddParameterBlock(IntToPtr(10), 3);
problem.AddParameterBlock(IntToPtr(16), 2);
ASSERT_EQ(5, problem.NumParameterBlocks());
}
TEST(Problem, AddParameterIgnoresDuplicateCalls) {
double x[3], y[4];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
// Creating parameter blocks multiple times is ignored.
problem.AddParameterBlock(x, 3);
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
// ... even repeatedly.
problem.AddParameterBlock(x, 3);
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
// More parameters are fine.
problem.AddParameterBlock(y, 4);
problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
EXPECT_EQ(2, problem.NumParameterBlocks());
EXPECT_EQ(7, problem.NumParameters());
}
TEST(Problem, AddingParametersAndResidualsResultsInExpectedProblem) {
double x[3], y[4], z[5], w[4];
Problem problem;
problem.AddParameterBlock(x, 3);
EXPECT_EQ(1, problem.NumParameterBlocks());
EXPECT_EQ(3, problem.NumParameters());
problem.AddParameterBlock(y, 4);
EXPECT_EQ(2, problem.NumParameterBlocks());
EXPECT_EQ(7, problem.NumParameters());
problem.AddParameterBlock(z, 5);
EXPECT_EQ(3, problem.NumParameterBlocks());
EXPECT_EQ(12, problem.NumParameters());
// Add a parameter that has a local parameterization.
w[0] = 1.0; w[1] = 0.0; w[2] = 0.0; w[3] = 0.0;
problem.AddParameterBlock(w, 4, new QuaternionParameterization);
EXPECT_EQ(4, problem.NumParameterBlocks());
EXPECT_EQ(16, problem.NumParameters());
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
problem.AddResidualBlock(new BinaryCostFunction(6, 5, 4) , NULL, z, y);
problem.AddResidualBlock(new BinaryCostFunction(3, 3, 5), NULL, x, z);
problem.AddResidualBlock(new BinaryCostFunction(7, 5, 3), NULL, z, x);
problem.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4), NULL, z, x, y);
const int total_residuals = 2 + 6 + 3 + 7 + 1;
EXPECT_EQ(problem.NumResidualBlocks(), 5);
EXPECT_EQ(problem.NumResiduals(), total_residuals);
}
class DestructorCountingCostFunction : public SizedCostFunction<3, 4, 5> {
public:
explicit DestructorCountingCostFunction(int *num_destructions)
: num_destructions_(num_destructions) {}
virtual ~DestructorCountingCostFunction() {
*num_destructions_ += 1;
}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
return true;
}
private:
int* num_destructions_;
};
TEST(Problem, ReusedCostFunctionsAreOnlyDeletedOnce) {
double y[4], z[5];
int num_destructions = 0;
// Add a cost function multiple times and check to make sure that
// the destructor on the cost function is only called once.
{
Problem problem;
problem.AddParameterBlock(y, 4);
problem.AddParameterBlock(z, 5);
CostFunction* cost = new DestructorCountingCostFunction(&num_destructions);
problem.AddResidualBlock(cost, NULL, y, z);
problem.AddResidualBlock(cost, NULL, y, z);
problem.AddResidualBlock(cost, NULL, y, z);
EXPECT_EQ(3, problem.NumResidualBlocks());
}
// Check that the destructor was called only once.
CHECK_EQ(num_destructions, 1);
}
TEST(Problem, CostFunctionsAreDeletedEvenWithRemovals) {
double y[4], z[5], w[4];
int num_destructions = 0;
{
Problem problem;
problem.AddParameterBlock(y, 4);
problem.AddParameterBlock(z, 5);
CostFunction* cost_yz =
new DestructorCountingCostFunction(&num_destructions);
CostFunction* cost_wz =
new DestructorCountingCostFunction(&num_destructions);
ResidualBlock* r_yz = problem.AddResidualBlock(cost_yz, NULL, y, z);
ResidualBlock* r_wz = problem.AddResidualBlock(cost_wz, NULL, w, z);
EXPECT_EQ(2, problem.NumResidualBlocks());
// In the current implementation, the destructor shouldn't get run yet.
problem.RemoveResidualBlock(r_yz);
CHECK_EQ(num_destructions, 0);
problem.RemoveResidualBlock(r_wz);
CHECK_EQ(num_destructions, 0);
EXPECT_EQ(0, problem.NumResidualBlocks());
}
CHECK_EQ(num_destructions, 2);
}
// Make the dynamic problem tests (e.g. for removing residual blocks)
// parameterized on whether the low-latency mode is enabled or not.
//
// This tests against ProblemImpl instead of Problem in order to inspect the
// state of the resulting Program; this is difficult with only the thin Problem
// interface.
struct DynamicProblem : public ::testing::TestWithParam<bool> {
DynamicProblem() {
Problem::Options options;
options.enable_fast_parameter_block_removal = GetParam();
problem.reset(new ProblemImpl(options));
}
ParameterBlock* GetParameterBlock(int block) {
return problem->program().parameter_blocks()[block];
}
ResidualBlock* GetResidualBlock(int block) {
return problem->program().residual_blocks()[block];
}
bool HasResidualBlock(ResidualBlock* residual_block) {
return find(problem->program().residual_blocks().begin(),
problem->program().residual_blocks().end(),
residual_block) != problem->program().residual_blocks().end();
}
// The next block of functions until the end are only for testing the
// residual block removals.
void ExpectParameterBlockContainsResidualBlock(
double* values,
ResidualBlock* residual_block) {
ParameterBlock* parameter_block =
FindOrDie(problem->parameter_map(), values);
EXPECT_TRUE(ContainsKey(*(parameter_block->mutable_residual_blocks()),
residual_block));
}
void ExpectSize(double* values, int size) {
ParameterBlock* parameter_block =
FindOrDie(problem->parameter_map(), values);
EXPECT_EQ(size, parameter_block->mutable_residual_blocks()->size());
}
// Degenerate case.
void ExpectParameterBlockContains(double* values) {
ExpectSize(values, 0);
}
void ExpectParameterBlockContains(double* values,
ResidualBlock* r1) {
ExpectSize(values, 1);
ExpectParameterBlockContainsResidualBlock(values, r1);
}
void ExpectParameterBlockContains(double* values,
ResidualBlock* r1,
ResidualBlock* r2) {
ExpectSize(values, 2);
ExpectParameterBlockContainsResidualBlock(values, r1);
ExpectParameterBlockContainsResidualBlock(values, r2);
}
void ExpectParameterBlockContains(double* values,
ResidualBlock* r1,
ResidualBlock* r2,
ResidualBlock* r3) {
ExpectSize(values, 3);
ExpectParameterBlockContainsResidualBlock(values, r1);
ExpectParameterBlockContainsResidualBlock(values, r2);
ExpectParameterBlockContainsResidualBlock(values, r3);
}
void ExpectParameterBlockContains(double* values,
ResidualBlock* r1,
ResidualBlock* r2,
ResidualBlock* r3,
ResidualBlock* r4) {
ExpectSize(values, 4);
ExpectParameterBlockContainsResidualBlock(values, r1);
ExpectParameterBlockContainsResidualBlock(values, r2);
ExpectParameterBlockContainsResidualBlock(values, r3);
ExpectParameterBlockContainsResidualBlock(values, r4);
}
scoped_ptr<ProblemImpl> problem;
double y[4], z[5], w[3];
};
TEST_P(DynamicProblem, RemoveParameterBlockWithNoResiduals) {
problem->AddParameterBlock(y, 4);
problem->AddParameterBlock(z, 5);
problem->AddParameterBlock(w, 3);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(0, problem->NumResidualBlocks());
EXPECT_EQ(y, GetParameterBlock(0)->user_state());
EXPECT_EQ(z, GetParameterBlock(1)->user_state());
EXPECT_EQ(w, GetParameterBlock(2)->user_state());
// w is at the end, which might break the swapping logic so try adding and
// removing it.
problem->RemoveParameterBlock(w);
ASSERT_EQ(2, problem->NumParameterBlocks());
ASSERT_EQ(0, problem->NumResidualBlocks());
EXPECT_EQ(y, GetParameterBlock(0)->user_state());
EXPECT_EQ(z, GetParameterBlock(1)->user_state());
problem->AddParameterBlock(w, 3);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(0, problem->NumResidualBlocks());
EXPECT_EQ(y, GetParameterBlock(0)->user_state());
EXPECT_EQ(z, GetParameterBlock(1)->user_state());
EXPECT_EQ(w, GetParameterBlock(2)->user_state());
// Now remove z, which is in the middle, and add it back.
problem->RemoveParameterBlock(z);
ASSERT_EQ(2, problem->NumParameterBlocks());
ASSERT_EQ(0, problem->NumResidualBlocks());
EXPECT_EQ(y, GetParameterBlock(0)->user_state());
EXPECT_EQ(w, GetParameterBlock(1)->user_state());
problem->AddParameterBlock(z, 5);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(0, problem->NumResidualBlocks());
EXPECT_EQ(y, GetParameterBlock(0)->user_state());
EXPECT_EQ(w, GetParameterBlock(1)->user_state());
EXPECT_EQ(z, GetParameterBlock(2)->user_state());
// Now remove everything.
// y
problem->RemoveParameterBlock(y);
ASSERT_EQ(2, problem->NumParameterBlocks());
ASSERT_EQ(0, problem->NumResidualBlocks());
EXPECT_EQ(z, GetParameterBlock(0)->user_state());
EXPECT_EQ(w, GetParameterBlock(1)->user_state());
// z
problem->RemoveParameterBlock(z);
ASSERT_EQ(1, problem->NumParameterBlocks());
ASSERT_EQ(0, problem->NumResidualBlocks());
EXPECT_EQ(w, GetParameterBlock(0)->user_state());
// w
problem->RemoveParameterBlock(w);
EXPECT_EQ(0, problem->NumParameterBlocks());
EXPECT_EQ(0, problem->NumResidualBlocks());
}
TEST_P(DynamicProblem, RemoveParameterBlockWithResiduals) {
problem->AddParameterBlock(y, 4);
problem->AddParameterBlock(z, 5);
problem->AddParameterBlock(w, 3);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(0, problem->NumResidualBlocks());
EXPECT_EQ(y, GetParameterBlock(0)->user_state());
EXPECT_EQ(z, GetParameterBlock(1)->user_state());
EXPECT_EQ(w, GetParameterBlock(2)->user_state());
// Add all combinations of cost functions.
CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5);
CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3);
CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3);
CostFunction* cost_y = new UnaryCostFunction (1, 4);
CostFunction* cost_z = new UnaryCostFunction (1, 5);
CostFunction* cost_w = new UnaryCostFunction (1, 3);
ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z);
ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w);
ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w);
ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y);
ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z);
ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w);
EXPECT_EQ(3, problem->NumParameterBlocks());
EXPECT_EQ(7, problem->NumResidualBlocks());
// Remove w, which should remove r_yzw, r_yw, r_zw, r_w.
problem->RemoveParameterBlock(w);
ASSERT_EQ(2, problem->NumParameterBlocks());
ASSERT_EQ(3, problem->NumResidualBlocks());
ASSERT_FALSE(HasResidualBlock(r_yzw));
ASSERT_TRUE (HasResidualBlock(r_yz ));
ASSERT_FALSE(HasResidualBlock(r_yw ));
ASSERT_FALSE(HasResidualBlock(r_zw ));
ASSERT_TRUE (HasResidualBlock(r_y ));
ASSERT_TRUE (HasResidualBlock(r_z ));
ASSERT_FALSE(HasResidualBlock(r_w ));
// Remove z, which will remove almost everything else.
problem->RemoveParameterBlock(z);
ASSERT_EQ(1, problem->NumParameterBlocks());
ASSERT_EQ(1, problem->NumResidualBlocks());
ASSERT_FALSE(HasResidualBlock(r_yzw));
ASSERT_FALSE(HasResidualBlock(r_yz ));
ASSERT_FALSE(HasResidualBlock(r_yw ));
ASSERT_FALSE(HasResidualBlock(r_zw ));
ASSERT_TRUE (HasResidualBlock(r_y ));
ASSERT_FALSE(HasResidualBlock(r_z ));
ASSERT_FALSE(HasResidualBlock(r_w ));
// Remove y; all gone.
problem->RemoveParameterBlock(y);
EXPECT_EQ(0, problem->NumParameterBlocks());
EXPECT_EQ(0, problem->NumResidualBlocks());
}
TEST_P(DynamicProblem, RemoveResidualBlock) {
problem->AddParameterBlock(y, 4);
problem->AddParameterBlock(z, 5);
problem->AddParameterBlock(w, 3);
// Add all combinations of cost functions.
CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5);
CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3);
CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3);
CostFunction* cost_y = new UnaryCostFunction (1, 4);
CostFunction* cost_z = new UnaryCostFunction (1, 5);
CostFunction* cost_w = new UnaryCostFunction (1, 3);
ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z);
ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w);
ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w);
ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y);
ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z);
ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w);
if (GetParam()) {
// In this test parameterization, there should be back-pointers from the
// parameter blocks to the residual blocks.
ExpectParameterBlockContains(y, r_yzw, r_yz, r_yw, r_y);
ExpectParameterBlockContains(z, r_yzw, r_yz, r_zw, r_z);
ExpectParameterBlockContains(w, r_yzw, r_yw, r_zw, r_w);
} else {
// Otherwise, nothing.
EXPECT_TRUE(GetParameterBlock(0)->mutable_residual_blocks() == NULL);
EXPECT_TRUE(GetParameterBlock(1)->mutable_residual_blocks() == NULL);
EXPECT_TRUE(GetParameterBlock(2)->mutable_residual_blocks() == NULL);
}
EXPECT_EQ(3, problem->NumParameterBlocks());
EXPECT_EQ(7, problem->NumResidualBlocks());
// Remove each residual and check the state after each removal.
// Remove r_yzw.
problem->RemoveResidualBlock(r_yzw);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(6, problem->NumResidualBlocks());
if (GetParam()) {
ExpectParameterBlockContains(y, r_yz, r_yw, r_y);
ExpectParameterBlockContains(z, r_yz, r_zw, r_z);
ExpectParameterBlockContains(w, r_yw, r_zw, r_w);
}
ASSERT_TRUE (HasResidualBlock(r_yz ));
ASSERT_TRUE (HasResidualBlock(r_yw ));
ASSERT_TRUE (HasResidualBlock(r_zw ));
ASSERT_TRUE (HasResidualBlock(r_y ));
ASSERT_TRUE (HasResidualBlock(r_z ));
ASSERT_TRUE (HasResidualBlock(r_w ));
// Remove r_yw.
problem->RemoveResidualBlock(r_yw);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(5, problem->NumResidualBlocks());
if (GetParam()) {
ExpectParameterBlockContains(y, r_yz, r_y);
ExpectParameterBlockContains(z, r_yz, r_zw, r_z);
ExpectParameterBlockContains(w, r_zw, r_w);
}
ASSERT_TRUE (HasResidualBlock(r_yz ));
ASSERT_TRUE (HasResidualBlock(r_zw ));
ASSERT_TRUE (HasResidualBlock(r_y ));
ASSERT_TRUE (HasResidualBlock(r_z ));
ASSERT_TRUE (HasResidualBlock(r_w ));
// Remove r_zw.
problem->RemoveResidualBlock(r_zw);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(4, problem->NumResidualBlocks());
if (GetParam()) {
ExpectParameterBlockContains(y, r_yz, r_y);
ExpectParameterBlockContains(z, r_yz, r_z);
ExpectParameterBlockContains(w, r_w);
}
ASSERT_TRUE (HasResidualBlock(r_yz ));
ASSERT_TRUE (HasResidualBlock(r_y ));
ASSERT_TRUE (HasResidualBlock(r_z ));
ASSERT_TRUE (HasResidualBlock(r_w ));
// Remove r_w.
problem->RemoveResidualBlock(r_w);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(3, problem->NumResidualBlocks());
if (GetParam()) {
ExpectParameterBlockContains(y, r_yz, r_y);
ExpectParameterBlockContains(z, r_yz, r_z);
ExpectParameterBlockContains(w);
}
ASSERT_TRUE (HasResidualBlock(r_yz ));
ASSERT_TRUE (HasResidualBlock(r_y ));
ASSERT_TRUE (HasResidualBlock(r_z ));
// Remove r_yz.
problem->RemoveResidualBlock(r_yz);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(2, problem->NumResidualBlocks());
if (GetParam()) {
ExpectParameterBlockContains(y, r_y);
ExpectParameterBlockContains(z, r_z);
ExpectParameterBlockContains(w);
}
ASSERT_TRUE (HasResidualBlock(r_y ));
ASSERT_TRUE (HasResidualBlock(r_z ));
// Remove the last two.
problem->RemoveResidualBlock(r_z);
problem->RemoveResidualBlock(r_y);
ASSERT_EQ(3, problem->NumParameterBlocks());
ASSERT_EQ(0, problem->NumResidualBlocks());
if (GetParam()) {
ExpectParameterBlockContains(y);
ExpectParameterBlockContains(z);
ExpectParameterBlockContains(w);
}
}
INSTANTIATE_TEST_CASE_P(OptionsInstantiation,
DynamicProblem,
::testing::Values(true, false));
} // namespace internal
} // namespace ceres
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