mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Keir Mierle
99 lines
3.7 KiB
C++
99 lines
3.7 KiB
C++
|
|
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2017 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// 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: mierle@gmail.com (Keir Mierle)
|
|
|
|
#include "ceres/tiny_solver_autodiff_function.h"
|
|
|
|
#include <algorithm>
|
|
#include <cmath>
|
|
#include <limits>
|
|
|
|
#include "gtest/gtest.h"
|
|
|
|
namespace ceres {
|
|
|
|
typedef Eigen::Matrix<double, 2, 1> Vec2;
|
|
typedef Eigen::Matrix<double, 3, 1> Vec3;
|
|
|
|
struct AutoDiffTestFunctor {
|
|
template<typename T>
|
|
bool operator()(const T* const parameters, T* residuals) const {
|
|
// Shift the parameters so the solution is not at the origin, to prevent
|
|
// accidentally showing "PASS".
|
|
const T& a = parameters[0] - T(1.0);
|
|
const T& b = parameters[1] - T(2.0);
|
|
const T& c = parameters[2] - T(3.0);
|
|
residuals[0] = 2.*a + 0.*b + 1.*c;
|
|
residuals[1] = 0.*a + 4.*b + 6.*c;
|
|
return true;
|
|
}
|
|
};
|
|
|
|
// Leave a factor of 10 slop since these tests tend to mysteriously break on
|
|
// other compilers or architectures if the tolerance is too tight.
|
|
static double const kTolerance = std::numeric_limits<double>::epsilon() * 10;
|
|
|
|
TEST(TinySolverAutoDiffFunction, SimpleFunction) {
|
|
typedef TinySolverAutoDiffFunction<AutoDiffTestFunctor, 2, 3>
|
|
AutoDiffTestFunction;
|
|
AutoDiffTestFunctor autodiff_test_functor;
|
|
AutoDiffTestFunction f(autodiff_test_functor);
|
|
|
|
Vec3 x(2.0, 1.0, 4.0);
|
|
Vec2 residuals;
|
|
|
|
// Check the case with cost-only evaluation.
|
|
residuals.setConstant(555); // Arbitrary.
|
|
EXPECT_TRUE(f(&x(0), &residuals(0), NULL));
|
|
EXPECT_NEAR(3.0, residuals(0), kTolerance);
|
|
EXPECT_NEAR(2.0, residuals(1), kTolerance);
|
|
|
|
// Check the case with cost and Jacobian evaluation.
|
|
Eigen::Matrix<double, 2, 3> jacobian;
|
|
residuals.setConstant(555); // Arbitrary.
|
|
jacobian.setConstant(555);
|
|
EXPECT_TRUE(f(&x(0), &residuals(0), &jacobian(0, 0)));
|
|
|
|
// Verify cost.
|
|
EXPECT_NEAR(3.0, residuals(0), kTolerance);
|
|
EXPECT_NEAR(2.0, residuals(1), kTolerance);
|
|
|
|
// Verify Jacobian Row 1.
|
|
EXPECT_NEAR(2.0, jacobian(0, 0), kTolerance);
|
|
EXPECT_NEAR(0.0, jacobian(0, 1), kTolerance);
|
|
EXPECT_NEAR(1.0, jacobian(0, 2), kTolerance);
|
|
|
|
// Verify Jacobian row 2.
|
|
EXPECT_NEAR(0.0, jacobian(1, 0), kTolerance);
|
|
EXPECT_NEAR(4.0, jacobian(1, 1), kTolerance);
|
|
EXPECT_NEAR(6.0, jacobian(1, 2), kTolerance);
|
|
}
|
|
} // namespace tinysolver
|