mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
e82e128344
This header defined integral types in the pre-C++11 days, and can be replaced with <cstdint> and the types defined therein. Also remove a shallow (and incorrect) typedef in include/ceres/types.h https://github.com/ceres-solver/ceres-solver/issues/409 Change-Id: I398c652f74d24bbeea459672508bf28f591b100f
355 lines
13 KiB
C++
355 lines
13 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/cost_function_to_functor.h"
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#include <cstdint>
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#include <memory>
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#include "ceres/dynamic_autodiff_cost_function.h"
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#include "ceres/dynamic_cost_function_to_functor.h"
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#include "ceres/autodiff_cost_function.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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using std::vector;
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const double kTolerance = 1e-18;
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void ExpectCostFunctionsAreEqual(const CostFunction& cost_function,
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const CostFunction& actual_cost_function) {
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EXPECT_EQ(cost_function.num_residuals(),
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actual_cost_function.num_residuals());
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const int num_residuals = cost_function.num_residuals();
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const vector<int32_t>& parameter_block_sizes =
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cost_function.parameter_block_sizes();
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const vector<int32_t>& actual_parameter_block_sizes =
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actual_cost_function.parameter_block_sizes();
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EXPECT_EQ(parameter_block_sizes.size(),
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actual_parameter_block_sizes.size());
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int num_parameters = 0;
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for (int i = 0; i < parameter_block_sizes.size(); ++i) {
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EXPECT_EQ(parameter_block_sizes[i], actual_parameter_block_sizes[i]);
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num_parameters += parameter_block_sizes[i];
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}
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std::unique_ptr<double[]> parameters(new double[num_parameters]);
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for (int i = 0; i < num_parameters; ++i) {
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parameters[i] = static_cast<double>(i) + 1.0;
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}
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std::unique_ptr<double[]> residuals(new double[num_residuals]);
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std::unique_ptr<double[]> jacobians(new double[num_parameters * num_residuals]);
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std::unique_ptr<double[]> actual_residuals(new double[num_residuals]);
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std::unique_ptr<double[]> actual_jacobians
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(new double[num_parameters * num_residuals]);
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std::unique_ptr<double*[]> parameter_blocks(
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new double*[parameter_block_sizes.size()]);
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std::unique_ptr<double*[]> jacobian_blocks(
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new double*[parameter_block_sizes.size()]);
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std::unique_ptr<double*[]> actual_jacobian_blocks(
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new double*[parameter_block_sizes.size()]);
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num_parameters = 0;
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for (int i = 0; i < parameter_block_sizes.size(); ++i) {
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parameter_blocks[i] = parameters.get() + num_parameters;
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jacobian_blocks[i] = jacobians.get() + num_parameters * num_residuals;
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actual_jacobian_blocks[i] =
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actual_jacobians.get() + num_parameters * num_residuals;
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num_parameters += parameter_block_sizes[i];
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}
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EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
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residuals.get(), NULL));
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EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
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actual_residuals.get(), NULL));
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for (int i = 0; i < num_residuals; ++i) {
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EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
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<< "residual id: " << i;
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}
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EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
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residuals.get(),
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jacobian_blocks.get()));
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EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
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actual_residuals.get(),
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actual_jacobian_blocks.get()));
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for (int i = 0; i < num_residuals; ++i) {
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EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
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<< "residual : " << i;
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}
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for (int i = 0; i < num_residuals * num_parameters; ++i) {
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EXPECT_NEAR(jacobians[i], actual_jacobians[i], kTolerance)
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<< "jacobian : " << i << " "
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<< jacobians[i] << " " << actual_jacobians[i];
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}
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}
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struct OneParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, T* residuals) const {
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residuals[0] = x1[0] * x1[0];
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residuals[1] = x1[1] * x1[1];
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return true;
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}
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};
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struct TwoParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, const T* x2, T* residuals) const {
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residuals[0] = x1[0] * x1[0] + x2[0] * x2[0];
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residuals[1] = x1[1] * x1[1] + x2[1] * x2[1];
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return true;
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}
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};
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struct ThreeParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, const T* x2, const T* x3, T* residuals) const {
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residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0];
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residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1];
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return true;
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}
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};
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struct FourParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
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T* residuals) const {
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residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
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+ x4[0] * x4[0];
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residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
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+ x4[1] * x4[1];
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return true;
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}
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};
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struct FiveParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
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const T* x5, T* residuals) const {
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residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
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+ x4[0] * x4[0] + x5[0] * x5[0];
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residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
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+ x4[1] * x4[1] + x5[1] * x5[1];
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return true;
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}
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};
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struct SixParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
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const T* x5, const T* x6, T* residuals) const {
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residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
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+ x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0];
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residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
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+ x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1];
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return true;
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}
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};
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struct SevenParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
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const T* x5, const T* x6, const T* x7, T* residuals) const {
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residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
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+ x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0];
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residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
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+ x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1];
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return true;
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}
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};
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struct EightParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
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const T* x5, const T* x6, const T* x7, const T* x8,
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T* residuals) const {
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residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
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+ x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
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+ x8[0] * x8[0];
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residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
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+ x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
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+ x8[1] * x8[1];
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return true;
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}
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};
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struct NineParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
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const T* x5, const T* x6, const T* x7, const T* x8,
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const T* x9, T* residuals) const {
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residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
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+ x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
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+ x8[0] * x8[0] + x9[0] * x9[0];
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residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
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+ x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
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+ x8[1] * x8[1] + x9[1] * x9[1];
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return true;
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}
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};
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struct TenParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
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const T* x5, const T* x6, const T* x7, const T* x8,
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const T* x9, const T* x10, T* residuals) const {
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residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
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+ x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
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+ x8[0] * x8[0] + x9[0] * x9[0] + x10[0] * x10[0];
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residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
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+ x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
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+ x8[1] * x8[1] + x9[1] * x9[1] + x10[1] * x10[1];
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return true;
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}
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};
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class DynamicTwoParameterBlockFunctor {
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public:
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template <typename T>
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bool operator()(T const* const* parameters, T* residuals) const {
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for (int i = 0; i < 2; ++i) {
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residuals[0] = parameters[i][0] * parameters[i][0];
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residuals[1] = parameters[i][1] * parameters[i][1];
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}
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return true;
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}
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};
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#define TEST_BODY(NAME) \
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TEST(CostFunctionToFunctor, NAME) { \
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std::unique_ptr<CostFunction> cost_function( \
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new AutoDiffCostFunction< \
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CostFunctionToFunctor<2, PARAMETER_BLOCK_SIZES >, \
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2, PARAMETER_BLOCK_SIZES>(new CostFunctionToFunctor< \
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2, PARAMETER_BLOCK_SIZES >( \
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new AutoDiffCostFunction< \
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NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
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new NAME##Functor)))); \
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\
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std::unique_ptr<CostFunction> actual_cost_function( \
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new AutoDiffCostFunction<NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
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new NAME##Functor)); \
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ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function); \
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}
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#define PARAMETER_BLOCK_SIZES 2
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TEST_BODY(OneParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#define PARAMETER_BLOCK_SIZES 2,2
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TEST_BODY(TwoParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#define PARAMETER_BLOCK_SIZES 2,2,2
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TEST_BODY(ThreeParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#define PARAMETER_BLOCK_SIZES 2,2,2,2
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TEST_BODY(FourParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#define PARAMETER_BLOCK_SIZES 2,2,2,2,2
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TEST_BODY(FiveParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2
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TEST_BODY(SixParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2
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TEST_BODY(SevenParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2
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TEST_BODY(EightParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2
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TEST_BODY(NineParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2,2
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TEST_BODY(TenParameterBlock)
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#undef PARAMETER_BLOCK_SIZES
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#undef TEST_BODY
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TEST(CostFunctionToFunctor, DynamicNumberOfResiduals) {
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std::unique_ptr<CostFunction> cost_function(
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new AutoDiffCostFunction<
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CostFunctionToFunctor<ceres::DYNAMIC, 2, 2 >, ceres::DYNAMIC, 2, 2>(
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new CostFunctionToFunctor<ceres::DYNAMIC, 2, 2 >(
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new AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2 >(
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new TwoParameterBlockFunctor)), 2));
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std::unique_ptr<CostFunction> actual_cost_function(
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new AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2 >(
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new TwoParameterBlockFunctor));
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ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function);
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}
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TEST(CostFunctionToFunctor, DynamicCostFunctionToFunctor) {
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DynamicAutoDiffCostFunction<DynamicTwoParameterBlockFunctor>*
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actual_cost_function(
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new DynamicAutoDiffCostFunction<DynamicTwoParameterBlockFunctor>(
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new DynamicTwoParameterBlockFunctor));
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actual_cost_function->AddParameterBlock(2);
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actual_cost_function->AddParameterBlock(2);
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actual_cost_function->SetNumResiduals(2);
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DynamicAutoDiffCostFunction<DynamicCostFunctionToFunctor> cost_function(
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new DynamicCostFunctionToFunctor(actual_cost_function));
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cost_function.AddParameterBlock(2);
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cost_function.AddParameterBlock(2);
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cost_function.SetNumResiduals(2);
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ExpectCostFunctionsAreEqual(cost_function, *actual_cost_function);
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}
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} // namespace internal
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} // namespace ceres
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