mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 09:00:37 +08:00
Darius Rueckert
8def196166
The move constructor and move =operator are not required. They make the code more complex and prone to bugs. The few saved assignments are all trivial and are optimized away by the compiler or our optimizer. In fact, there is a bug in the current move-constructor implementation that occurs, for example, when moving Eigen matrices around. Change-Id: I013796495bb39f3f27677111bd0aaf49e2454e20
405 lines
14 KiB
C++
405 lines
14 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2019 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: darius.rueckert@fau.de (Darius Rueckert)
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//
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// This file tests the ExpressionRef class. This test depends on the
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// correctness of Expression and ExpressionGraph.
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//
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#define CERES_CODEGEN
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#include "ceres/codegen/internal/expression_ref.h"
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#include "ceres/codegen/internal/expression_graph.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 T = ExpressionRef;
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TEST(ExpressionRef, COMPILE_TIME_CONSTANT) {
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StartRecordingExpressions();
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T a = T(0);
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T b = T(123.5);
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T c = T(1 + 1);
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T d; // Uninitialized variables should not generate code!
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(0));
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reference.InsertBack(Expression::CreateCompileTimeConstant(123.5));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, INPUT_ASSIGNMENT) {
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double local_variable = 5.0;
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StartRecordingExpressions();
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T a = CERES_LOCAL_VARIABLE(T, local_variable);
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T b = MakeParameter("parameters[0][0]");
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateInputAssignment("local_variable"));
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reference.InsertBack(Expression::CreateInputAssignment("parameters[0][0]"));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, OUTPUT_ASSIGNMENT) {
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StartRecordingExpressions();
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T a = 1;
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T b = 0;
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MakeOutput(a, "residual[0]");
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(0));
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reference.InsertBack(Expression::CreateOutputAssignment(0, "residual[0]"));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, Assignment) {
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StartRecordingExpressions();
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T a = 1;
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T b = 2;
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b = a;
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auto graph = StopRecordingExpressions();
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EXPECT_EQ(graph.Size(), 3);
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateAssignment(1, 0));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, AssignmentCreate) {
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StartRecordingExpressions();
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T a = 2;
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T b = a;
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auto graph = StopRecordingExpressions();
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EXPECT_EQ(graph.Size(), 2);
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateAssignment(kInvalidExpressionId, 0));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, MoveAssignment) {
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StartRecordingExpressions();
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T a = 1;
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T b = 2;
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b = std::move(a);
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auto graph = StopRecordingExpressions();
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EXPECT_EQ(graph.Size(), 3);
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateAssignment(1, 0));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, BINARY_ARITHMETIC_SIMPLE) {
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StartRecordingExpressions();
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T a = T(1);
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T b = T(2);
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T r1 = a + b;
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T r2 = a - b;
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T r3 = a * b;
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T r4 = a / b;
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateBinaryArithmetic("+", 0, 1));
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reference.InsertBack(Expression::CreateBinaryArithmetic("-", 0, 1));
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reference.InsertBack(Expression::CreateBinaryArithmetic("*", 0, 1));
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reference.InsertBack(Expression::CreateBinaryArithmetic("/", 0, 1));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, BINARY_ARITHMETIC_NESTED) {
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StartRecordingExpressions();
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T a = T(1);
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T b = T(2);
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T r1 = b - a * (a + b) / a;
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateBinaryArithmetic("+", 0, 1));
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reference.InsertBack(Expression::CreateBinaryArithmetic("*", 0, 2));
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reference.InsertBack(Expression::CreateBinaryArithmetic("/", 3, 0));
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reference.InsertBack(Expression::CreateBinaryArithmetic("-", 1, 4));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, BINARY_ARITHMETIC_COMPOUND) {
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// For each binary compound arithmetic operation, two lines are generated:
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// - The actual operation assigning to a new temporary variable
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// - An assignment from the temporary to the lhs
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StartRecordingExpressions();
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T a = T(1);
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T b = T(2);
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a += b;
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a -= b;
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a *= b;
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a /= b;
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateBinaryArithmetic("+", 0, 1));
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reference.InsertBack(Expression::CreateAssignment(0, 2));
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reference.InsertBack(Expression::CreateBinaryArithmetic("-", 0, 1));
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reference.InsertBack(Expression::CreateAssignment(0, 4));
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reference.InsertBack(Expression::CreateBinaryArithmetic("*", 0, 1));
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reference.InsertBack(Expression::CreateAssignment(0, 6));
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reference.InsertBack(Expression::CreateBinaryArithmetic("/", 0, 1));
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reference.InsertBack(Expression::CreateAssignment(0, 8));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, UNARY_ARITHMETIC) {
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StartRecordingExpressions();
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T a = T(1);
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T r1 = -a;
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T r2 = +a;
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateUnaryArithmetic("-", 0));
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reference.InsertBack(Expression::CreateUnaryArithmetic("+", 0));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, BINARY_COMPARISON) {
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using BOOL = ComparisonExpressionRef;
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StartRecordingExpressions();
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T a = T(1);
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T b = T(2);
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BOOL r1 = a < b;
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BOOL r2 = a <= b;
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BOOL r3 = a > b;
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BOOL r4 = a >= b;
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BOOL r5 = a == b;
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BOOL r6 = a != b;
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateBinaryCompare("<", 0, 1));
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reference.InsertBack(Expression::CreateBinaryCompare("<=", 0, 1));
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reference.InsertBack(Expression::CreateBinaryCompare(">", 0, 1));
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reference.InsertBack(Expression::CreateBinaryCompare(">=", 0, 1));
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reference.InsertBack(Expression::CreateBinaryCompare("==", 0, 1));
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reference.InsertBack(Expression::CreateBinaryCompare("!=", 0, 1));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, LOGICAL_OPERATORS) {
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using BOOL = ComparisonExpressionRef;
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// Tests binary logical operators &&, || and the unary logical operator !
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StartRecordingExpressions();
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T a = T(1);
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T b = T(2);
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BOOL r1 = a < b;
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BOOL r2 = a <= b;
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BOOL r3 = r1 && r2;
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BOOL r4 = r1 || r2;
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BOOL r5 = !r1;
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateBinaryCompare("<", 0, 1));
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reference.InsertBack(Expression::CreateBinaryCompare("<=", 0, 1));
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reference.InsertBack(Expression::CreateBinaryCompare("&&", 2, 3));
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reference.InsertBack(Expression::CreateBinaryCompare("||", 2, 3));
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reference.InsertBack(Expression::CreateLogicalNegation(2));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, SCALAR_FUNCTION_CALL) {
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StartRecordingExpressions();
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T a = T(1);
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T b = T(2);
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abs(a);
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acos(a);
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asin(a);
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atan(a);
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cbrt(a);
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ceil(a);
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cos(a);
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cosh(a);
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exp(a);
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exp2(a);
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floor(a);
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log(a);
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log2(a);
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sin(a);
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sinh(a);
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sqrt(a);
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tan(a);
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tanh(a);
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atan2(a, b);
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pow(a, b);
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateScalarFunctionCall("abs", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("acos", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("asin", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("atan", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("cbrt", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("ceil", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("cos", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("cosh", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("exp", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("exp2", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("floor", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("log", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("log2", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("sin", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("sinh", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("sqrt", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("tan", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("tanh", {0}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("atan2", {0, 1}));
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reference.InsertBack(Expression::CreateScalarFunctionCall("pow", {0, 1}));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, LOGICAL_FUNCTION_CALL) {
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StartRecordingExpressions();
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T a = T(1);
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isfinite(a);
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isinf(a);
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isnan(a);
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isnormal(a);
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateLogicalFunctionCall("isfinite", {0}));
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reference.InsertBack(Expression::CreateLogicalFunctionCall("isinf", {0}));
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reference.InsertBack(Expression::CreateLogicalFunctionCall("isnan", {0}));
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reference.InsertBack(Expression::CreateLogicalFunctionCall("isnormal", {0}));
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, IF) {
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StartRecordingExpressions();
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T a = T(1);
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T b = T(2);
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auto r1 = a < b;
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CERES_IF(r1) {}
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CERES_ENDIF;
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateBinaryCompare("<", 0, 1));
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reference.InsertBack(Expression::CreateIf(2));
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reference.InsertBack(Expression::CreateEndIf());
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, IF_ELSE) {
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StartRecordingExpressions();
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T a = T(1);
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T b = T(2);
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auto r1 = a < b;
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CERES_IF(r1) {}
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CERES_ELSE {}
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CERES_ENDIF;
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateBinaryCompare("<", 0, 1));
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reference.InsertBack(Expression::CreateIf(2));
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reference.InsertBack(Expression::CreateElse());
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reference.InsertBack(Expression::CreateEndIf());
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, IF_NESTED) {
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StartRecordingExpressions();
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T a = T(1);
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T b = T(2);
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auto r1 = a < b;
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auto r2 = a == b;
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CERES_IF(r1) {
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CERES_IF(r2) {}
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CERES_ENDIF;
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}
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CERES_ELSE {}
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CERES_ENDIF;
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateCompileTimeConstant(1));
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reference.InsertBack(Expression::CreateCompileTimeConstant(2));
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reference.InsertBack(Expression::CreateBinaryCompare("<", 0, 1));
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reference.InsertBack(Expression::CreateBinaryCompare("==", 0, 1));
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reference.InsertBack(Expression::CreateIf(2));
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reference.InsertBack(Expression::CreateIf(3));
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reference.InsertBack(Expression::CreateEndIf());
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reference.InsertBack(Expression::CreateElse());
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reference.InsertBack(Expression::CreateEndIf());
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EXPECT_EQ(reference, graph);
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}
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TEST(ExpressionRef, COMMENT) {
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StartRecordingExpressions();
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CERES_COMMENT("This is a comment");
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auto graph = StopRecordingExpressions();
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ExpressionGraph reference;
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reference.InsertBack(Expression::CreateComment("This is a comment"));
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EXPECT_EQ(reference, graph);
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}
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} // namespace internal
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} // namespace ceres
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