mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
12eb389b4e
If the parameter block size is 1, asking Eigen to create a row-major matrix triggers a compile time error. Previously we were handling the case where the number of rows in the jacobian block was known statically, but the problem is present when the nummber of rows is dynamic. This CL fixes this problem. Thanks to Dominik Reitzle for reporting this. Change-Id: I99c3eec3558e66ebf4efa51c4dee8ce292ffe0c1
226 lines
9.4 KiB
C++
226 lines
9.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: keir@google.com (Keir Mierle)
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#include "ceres/numeric_diff_cost_function.h"
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#include <algorithm>
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#include <cmath>
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#include <string>
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#include <vector>
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#include "ceres/internal/macros.h"
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#include "ceres/internal/scoped_ptr.h"
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#include "ceres/numeric_diff_test_utils.h"
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#include "ceres/test_util.h"
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#include "ceres/types.h"
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#include "glog/logging.h"
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#include "gtest/gtest.h"
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namespace ceres {
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namespace internal {
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TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferences) {
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internal::scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<EasyFunctor,
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CENTRAL,
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3, /* number of residuals */
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5, /* size of x1 */
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5 /* size of x2 */>(
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new EasyFunctor));
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EasyFunctor functor;
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
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}
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TEST(NumericDiffCostFunction, EasyCaseFunctorForwardDifferences) {
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internal::scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<EasyFunctor,
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FORWARD,
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3, /* number of residuals */
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5, /* size of x1 */
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5 /* size of x2 */>(
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new EasyFunctor));
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EasyFunctor functor;
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
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}
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TEST(NumericDiffCostFunction, EasyCaseCostFunctionCentralDifferences) {
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internal::scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<EasyCostFunction,
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CENTRAL,
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3, /* number of residuals */
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5, /* size of x1 */
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5 /* size of x2 */>(
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new EasyCostFunction, TAKE_OWNERSHIP));
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EasyFunctor functor;
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
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}
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TEST(NumericDiffCostFunction, EasyCaseCostFunctionForwardDifferences) {
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internal::scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<EasyCostFunction,
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FORWARD,
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3, /* number of residuals */
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5, /* size of x1 */
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5 /* size of x2 */>(
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new EasyCostFunction, TAKE_OWNERSHIP));
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EasyFunctor functor;
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
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}
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TEST(NumericDiffCostFunction, TranscendentalCaseFunctorCentralDifferences) {
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internal::scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<TranscendentalFunctor,
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CENTRAL,
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2, /* number of residuals */
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5, /* size of x1 */
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5 /* size of x2 */>(
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new TranscendentalFunctor));
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TranscendentalFunctor functor;
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
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}
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TEST(NumericDiffCostFunction, TranscendentalCaseFunctorForwardDifferences) {
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internal::scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<TranscendentalFunctor,
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FORWARD,
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2, /* number of residuals */
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5, /* size of x1 */
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5 /* size of x2 */>(
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new TranscendentalFunctor));
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TranscendentalFunctor functor;
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
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}
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TEST(NumericDiffCostFunction, TranscendentalCaseCostFunctionCentralDifferences) {
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internal::scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<TranscendentalCostFunction,
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CENTRAL,
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2, /* number of residuals */
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5, /* size of x1 */
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5 /* size of x2 */>(
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new TranscendentalCostFunction, TAKE_OWNERSHIP));
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TranscendentalFunctor functor;
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
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}
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TEST(NumericDiffCostFunction, TranscendentalCaseCostFunctionForwardDifferences) {
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internal::scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<TranscendentalCostFunction,
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FORWARD,
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2, /* number of residuals */
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5, /* size of x1 */
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5 /* size of x2 */>(
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new TranscendentalCostFunction, TAKE_OWNERSHIP));
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TranscendentalFunctor functor;
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
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}
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template<int num_rows, int num_cols>
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class SizeTestingCostFunction : public SizedCostFunction<num_rows, num_cols> {
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public:
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virtual bool Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const {
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return true;
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}
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};
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// As described in
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// http://forum.kde.org/viewtopic.php?f=74&t=98536#p210774
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// Eigen3 has restrictions on the Row/Column major storage of vectors,
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// depending on their dimensions. This test ensures that the correct
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// templates are instantiated for various shapes of the Jacobian
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// matrix.
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TEST(NumericDiffCostFunction, EigenRowMajorColMajorTest) {
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scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<SizeTestingCostFunction<1,1>, CENTRAL, 1, 1>(
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new SizeTestingCostFunction<1,1>, ceres::TAKE_OWNERSHIP));
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cost_function.reset(
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new NumericDiffCostFunction<SizeTestingCostFunction<2,1>, CENTRAL, 2, 1>(
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new SizeTestingCostFunction<2,1>, ceres::TAKE_OWNERSHIP));
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cost_function.reset(
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new NumericDiffCostFunction<SizeTestingCostFunction<1,2>, CENTRAL, 1, 2>(
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new SizeTestingCostFunction<1,2>, ceres::TAKE_OWNERSHIP));
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cost_function.reset(
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new NumericDiffCostFunction<SizeTestingCostFunction<2,2>, CENTRAL, 2, 2>(
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new SizeTestingCostFunction<2,2>, ceres::TAKE_OWNERSHIP));
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cost_function.reset(
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new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>(
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new EasyFunctor, TAKE_OWNERSHIP, 1));
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cost_function.reset(
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new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>(
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new EasyFunctor, TAKE_OWNERSHIP, 2));
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cost_function.reset(
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new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>(
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new EasyFunctor, TAKE_OWNERSHIP, 1));
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cost_function.reset(
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new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>(
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new EasyFunctor, TAKE_OWNERSHIP, 2));
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cost_function.reset(
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new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>(
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new EasyFunctor, TAKE_OWNERSHIP, 1));
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cost_function.reset(
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new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>(
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new EasyFunctor, TAKE_OWNERSHIP, 2));
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}
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TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferencesAndDynamicNumResiduals) {
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internal::scoped_ptr<CostFunction> cost_function;
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cost_function.reset(
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new NumericDiffCostFunction<EasyFunctor,
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CENTRAL,
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ceres::DYNAMIC,
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5, /* size of x1 */
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5 /* size of x2 */>(
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new EasyFunctor, TAKE_OWNERSHIP, 3));
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EasyFunctor functor;
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
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}
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} // namespace internal
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} // namespace ceres
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