mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
329 lines
11 KiB
C++
329 lines
11 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2015 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: keir@google.com (Keir Mierle)
|
|
|
|
#include "ceres/residual_block.h"
|
|
|
|
#include "gtest/gtest.h"
|
|
#include "ceres/parameter_block.h"
|
|
#include "ceres/sized_cost_function.h"
|
|
#include "ceres/internal/eigen.h"
|
|
#include "ceres/local_parameterization.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
using std::vector;
|
|
|
|
// Trivial cost function that accepts three arguments.
|
|
class TernaryCostFunction: public CostFunction {
|
|
public:
|
|
TernaryCostFunction(int num_residuals,
|
|
int32 parameter_block1_size,
|
|
int32 parameter_block2_size,
|
|
int32 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] = i;
|
|
}
|
|
if (jacobians) {
|
|
for (int k = 0; k < 3; ++k) {
|
|
if (jacobians[k] != NULL) {
|
|
MatrixRef jacobian(jacobians[k],
|
|
num_residuals(),
|
|
parameter_block_sizes()[k]);
|
|
jacobian.setConstant(k);
|
|
}
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
};
|
|
|
|
TEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) {
|
|
double scratch[64];
|
|
|
|
// Prepare the parameter blocks.
|
|
double values_x[2];
|
|
ParameterBlock x(values_x, 2, -1);
|
|
|
|
double values_y[3];
|
|
ParameterBlock y(values_y, 3, -1);
|
|
|
|
double values_z[4];
|
|
ParameterBlock z(values_z, 4, -1);
|
|
|
|
vector<ParameterBlock*> parameters;
|
|
parameters.push_back(&x);
|
|
parameters.push_back(&y);
|
|
parameters.push_back(&z);
|
|
|
|
TernaryCostFunction cost_function(3, 2, 3, 4);
|
|
|
|
// Create the object under tests.
|
|
ResidualBlock residual_block(&cost_function, NULL, parameters, -1);
|
|
|
|
// Verify getters.
|
|
EXPECT_EQ(&cost_function, residual_block.cost_function());
|
|
EXPECT_EQ(NULL, residual_block.loss_function());
|
|
EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]);
|
|
EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]);
|
|
EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]);
|
|
EXPECT_EQ(3, residual_block.NumScratchDoublesForEvaluate());
|
|
|
|
// Verify cost-only evaluation.
|
|
double cost;
|
|
residual_block.Evaluate(true, &cost, NULL, NULL, scratch);
|
|
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
|
|
|
|
// Verify cost and residual evaluation.
|
|
double residuals[3];
|
|
residual_block.Evaluate(true, &cost, residuals, NULL, scratch);
|
|
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
|
|
EXPECT_EQ(0.0, residuals[0]);
|
|
EXPECT_EQ(1.0, residuals[1]);
|
|
EXPECT_EQ(2.0, residuals[2]);
|
|
|
|
// Verify cost, residual, and jacobian evaluation.
|
|
cost = 0.0;
|
|
VectorRef(residuals, 3).setConstant(0.0);
|
|
|
|
Matrix jacobian_rx(3, 2);
|
|
Matrix jacobian_ry(3, 3);
|
|
Matrix jacobian_rz(3, 4);
|
|
|
|
jacobian_rx.setConstant(-1.0);
|
|
jacobian_ry.setConstant(-1.0);
|
|
jacobian_rz.setConstant(-1.0);
|
|
|
|
double *jacobian_ptrs[3] = {
|
|
jacobian_rx.data(),
|
|
jacobian_ry.data(),
|
|
jacobian_rz.data()
|
|
};
|
|
|
|
residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
|
|
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
|
|
EXPECT_EQ(0.0, residuals[0]);
|
|
EXPECT_EQ(1.0, residuals[1]);
|
|
EXPECT_EQ(2.0, residuals[2]);
|
|
|
|
EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx;
|
|
EXPECT_TRUE((jacobian_ry.array() == 1.0).all()) << "\n" << jacobian_ry;
|
|
EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz;
|
|
|
|
// Verify cost, residual, and partial jacobian evaluation.
|
|
cost = 0.0;
|
|
VectorRef(residuals, 3).setConstant(0.0);
|
|
jacobian_rx.setConstant(-1.0);
|
|
jacobian_ry.setConstant(-1.0);
|
|
jacobian_rz.setConstant(-1.0);
|
|
|
|
jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y.
|
|
|
|
residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
|
|
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
|
|
EXPECT_EQ(0.0, residuals[0]);
|
|
EXPECT_EQ(1.0, residuals[1]);
|
|
EXPECT_EQ(2.0, residuals[2]);
|
|
|
|
EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx;
|
|
EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry;
|
|
EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz;
|
|
}
|
|
|
|
// Trivial cost function that accepts three arguments.
|
|
class LocallyParameterizedCostFunction: public SizedCostFunction<3, 2, 3, 4> {
|
|
public:
|
|
virtual bool Evaluate(double const* const* parameters,
|
|
double* residuals,
|
|
double** jacobians) const {
|
|
for (int i = 0; i < num_residuals(); ++i) {
|
|
residuals[i] = i;
|
|
}
|
|
if (jacobians) {
|
|
for (int k = 0; k < 3; ++k) {
|
|
// The jacobians here are full sized, but they are transformed in the
|
|
// evaluator into the "local" jacobian. In the tests, the "subset
|
|
// constant" parameterization is used, which should pick out columns
|
|
// from these jacobians. Put values in the jacobian that make this
|
|
// obvious; in particular, make the jacobians like this:
|
|
//
|
|
// 0 1 2 3 4 ...
|
|
// 0 1 2 3 4 ...
|
|
// 0 1 2 3 4 ...
|
|
//
|
|
if (jacobians[k] != NULL) {
|
|
MatrixRef jacobian(jacobians[k],
|
|
num_residuals(),
|
|
parameter_block_sizes()[k]);
|
|
for (int j = 0; j < k + 2; ++j) {
|
|
jacobian.col(j).setConstant(j);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
};
|
|
|
|
TEST(ResidualBlock, EvaluteWithLocalParameterizations) {
|
|
double scratch[64];
|
|
|
|
// Prepare the parameter blocks.
|
|
double values_x[2];
|
|
ParameterBlock x(values_x, 2, -1);
|
|
|
|
double values_y[3];
|
|
ParameterBlock y(values_y, 3, -1);
|
|
|
|
double values_z[4];
|
|
ParameterBlock z(values_z, 4, -1);
|
|
|
|
vector<ParameterBlock*> parameters;
|
|
parameters.push_back(&x);
|
|
parameters.push_back(&y);
|
|
parameters.push_back(&z);
|
|
|
|
// Make x have the first component fixed.
|
|
vector<int> x_fixed;
|
|
x_fixed.push_back(0);
|
|
SubsetParameterization x_parameterization(2, x_fixed);
|
|
x.SetParameterization(&x_parameterization);
|
|
|
|
// Make z have the last and last component fixed.
|
|
vector<int> z_fixed;
|
|
z_fixed.push_back(2);
|
|
SubsetParameterization z_parameterization(4, z_fixed);
|
|
z.SetParameterization(&z_parameterization);
|
|
|
|
LocallyParameterizedCostFunction cost_function;
|
|
|
|
// Create the object under tests.
|
|
ResidualBlock residual_block(&cost_function, NULL, parameters, -1);
|
|
|
|
// Verify getters.
|
|
EXPECT_EQ(&cost_function, residual_block.cost_function());
|
|
EXPECT_EQ(NULL, residual_block.loss_function());
|
|
EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]);
|
|
EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]);
|
|
EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]);
|
|
EXPECT_EQ(3*(2 + 4) + 3, residual_block.NumScratchDoublesForEvaluate());
|
|
|
|
// Verify cost-only evaluation.
|
|
double cost;
|
|
residual_block.Evaluate(true, &cost, NULL, NULL, scratch);
|
|
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
|
|
|
|
// Verify cost and residual evaluation.
|
|
double residuals[3];
|
|
residual_block.Evaluate(true, &cost, residuals, NULL, scratch);
|
|
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
|
|
EXPECT_EQ(0.0, residuals[0]);
|
|
EXPECT_EQ(1.0, residuals[1]);
|
|
EXPECT_EQ(2.0, residuals[2]);
|
|
|
|
// Verify cost, residual, and jacobian evaluation.
|
|
cost = 0.0;
|
|
VectorRef(residuals, 3).setConstant(0.0);
|
|
|
|
Matrix jacobian_rx(3, 1); // Since the first element is fixed.
|
|
Matrix jacobian_ry(3, 3);
|
|
Matrix jacobian_rz(3, 3); // Since the third element is fixed.
|
|
|
|
jacobian_rx.setConstant(-1.0);
|
|
jacobian_ry.setConstant(-1.0);
|
|
jacobian_rz.setConstant(-1.0);
|
|
|
|
double *jacobian_ptrs[3] = {
|
|
jacobian_rx.data(),
|
|
jacobian_ry.data(),
|
|
jacobian_rz.data()
|
|
};
|
|
|
|
residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
|
|
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
|
|
EXPECT_EQ(0.0, residuals[0]);
|
|
EXPECT_EQ(1.0, residuals[1]);
|
|
EXPECT_EQ(2.0, residuals[2]);
|
|
|
|
Matrix expected_jacobian_rx(3, 1);
|
|
expected_jacobian_rx << 1.0, 1.0, 1.0;
|
|
|
|
Matrix expected_jacobian_ry(3, 3);
|
|
expected_jacobian_ry << 0.0, 1.0, 2.0,
|
|
0.0, 1.0, 2.0,
|
|
0.0, 1.0, 2.0;
|
|
|
|
Matrix expected_jacobian_rz(3, 3);
|
|
expected_jacobian_rz << 0.0, 1.0, /* 2.0, */ 3.0, // 3rd parameter constant.
|
|
0.0, 1.0, /* 2.0, */ 3.0,
|
|
0.0, 1.0, /* 2.0, */ 3.0;
|
|
|
|
EXPECT_EQ(expected_jacobian_rx, jacobian_rx)
|
|
<< "\nExpected:\n" << expected_jacobian_rx
|
|
<< "\nActual:\n" << jacobian_rx;
|
|
EXPECT_EQ(expected_jacobian_ry, jacobian_ry)
|
|
<< "\nExpected:\n" << expected_jacobian_ry
|
|
<< "\nActual:\n" << jacobian_ry;
|
|
EXPECT_EQ(expected_jacobian_rz, jacobian_rz)
|
|
<< "\nExpected:\n " << expected_jacobian_rz
|
|
<< "\nActual:\n" << jacobian_rz;
|
|
|
|
// Verify cost, residual, and partial jacobian evaluation.
|
|
cost = 0.0;
|
|
VectorRef(residuals, 3).setConstant(0.0);
|
|
jacobian_rx.setConstant(-1.0);
|
|
jacobian_ry.setConstant(-1.0);
|
|
jacobian_rz.setConstant(-1.0);
|
|
|
|
jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y.
|
|
|
|
residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
|
|
EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
|
|
EXPECT_EQ(0.0, residuals[0]);
|
|
EXPECT_EQ(1.0, residuals[1]);
|
|
EXPECT_EQ(2.0, residuals[2]);
|
|
|
|
EXPECT_EQ(expected_jacobian_rx, jacobian_rx);
|
|
EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry;
|
|
EXPECT_EQ(expected_jacobian_rz, jacobian_rz);
|
|
}
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|