mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
175fa8ff09
The code itself was perfectly capable of handling residuals, but there was an overly strict runtime check that had to be removed. Thanks to Domink Reitzle for reporting this. Change-Id: I6a6d000a7c5203dd5945a61b4caeda1b8aeb09c9
319 lines
12 KiB
C++
319 lines
12 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2013 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: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/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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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>& parameter_block_sizes =
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cost_function.parameter_block_sizes();
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const vector<int32>& 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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scoped_array<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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scoped_array<double> residuals(new double[num_residuals]);
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scoped_array<double> jacobians(new double[num_parameters * num_residuals]);
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scoped_array<double> actual_residuals(new double[num_residuals]);
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scoped_array<double> actual_jacobians
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(new double[num_parameters * num_residuals]);
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scoped_array<double*> parameter_blocks(
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new double*[parameter_block_sizes.size()]);
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scoped_array<double*> jacobian_blocks(
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new double*[parameter_block_sizes.size()]);
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scoped_array<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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#define TEST_BODY(NAME) \
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TEST(CostFunctionToFunctor, NAME) { \
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scoped_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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scoped_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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scoped_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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scoped_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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} // namespace internal
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} // namespace ceres
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