mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
286 lines
9.1 KiB
C++
286 lines
9.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 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: keir@google.com (Keir Mierle)
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#include "ceres/parameter_block.h"
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#include "absl/log/log.h"
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#include "ceres/internal/eigen.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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TEST(ParameterBlock, SetManifoldDiesOnSizeMismatch) {
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double x[3] = {1.0, 2.0, 3.0};
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ParameterBlock parameter_block(x, 3, -1);
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std::vector<int> indices;
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indices.push_back(1);
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SubsetManifold subset_wrong_size(4, indices);
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EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetManifold(&subset_wrong_size),
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"ambient");
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}
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TEST(ParameterBlock, SetManifoldWithSameExistingManifold) {
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double x[3] = {1.0, 2.0, 3.0};
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ParameterBlock parameter_block(x, 3, -1);
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std::vector<int> indices;
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indices.push_back(1);
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SubsetManifold subset(3, indices);
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parameter_block.SetManifold(&subset);
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parameter_block.SetManifold(&subset);
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}
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TEST(ParameterBlock, SetManifoldAllowsResettingToNull) {
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double x[3] = {1.0, 2.0, 3.0};
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ParameterBlock parameter_block(x, 3, -1);
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std::vector<int> indices;
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indices.push_back(1);
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SubsetManifold subset(3, indices);
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parameter_block.SetManifold(&subset);
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EXPECT_EQ(parameter_block.manifold(), &subset);
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parameter_block.SetManifold(nullptr);
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EXPECT_EQ(parameter_block.manifold(), nullptr);
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EXPECT_EQ(parameter_block.PlusJacobian(), nullptr);
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}
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TEST(ParameterBlock, SetManifoldAllowsResettingToDifferentManifold) {
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double x[3] = {1.0, 2.0, 3.0};
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ParameterBlock parameter_block(x, 3, -1);
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std::vector<int> indices;
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indices.push_back(1);
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SubsetManifold subset(3, indices);
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parameter_block.SetManifold(&subset);
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EXPECT_EQ(parameter_block.manifold(), &subset);
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SubsetManifold subset_different(3, indices);
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parameter_block.SetManifold(&subset_different);
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EXPECT_EQ(parameter_block.manifold(), &subset_different);
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}
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TEST(ParameterBlock, SetManifoldAndNormalOperation) {
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double x[3] = {1.0, 2.0, 3.0};
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ParameterBlock parameter_block(x, 3, -1);
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std::vector<int> indices;
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indices.push_back(1);
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SubsetManifold subset(3, indices);
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parameter_block.SetManifold(&subset);
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// Ensure the manifold plus jacobian result is correctly computed.
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ConstMatrixRef manifold_jacobian(parameter_block.PlusJacobian(), 3, 2);
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ASSERT_EQ(1.0, manifold_jacobian(0, 0));
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ASSERT_EQ(0.0, manifold_jacobian(0, 1));
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ASSERT_EQ(0.0, manifold_jacobian(1, 0));
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ASSERT_EQ(0.0, manifold_jacobian(1, 1));
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ASSERT_EQ(0.0, manifold_jacobian(2, 0));
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ASSERT_EQ(1.0, manifold_jacobian(2, 1));
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// Check that updating works as expected.
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double x_plus_delta[3];
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double delta[2] = {0.5, 0.3};
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parameter_block.Plus(x, delta, x_plus_delta);
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ASSERT_EQ(1.5, x_plus_delta[0]);
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ASSERT_EQ(2.0, x_plus_delta[1]);
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ASSERT_EQ(3.3, x_plus_delta[2]);
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}
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struct TestManifold : public Manifold {
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public:
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bool Plus(const double* x,
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const double* delta,
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double* x_plus_delta) const final {
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LOG(FATAL) << "Shouldn't get called.";
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return true;
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}
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bool PlusJacobian(const double* x, double* jacobian) const final {
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jacobian[0] = *x * 2;
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return true;
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}
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bool Minus(const double* y, const double* x, double* y_minus_x) const final {
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LOG(FATAL) << "Shouldn't get called";
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return true;
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}
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bool MinusJacobian(const double* x, double* jacobian) const final {
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jacobian[0] = *x * 2;
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return true;
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}
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int AmbientSize() const final { return 1; }
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int TangentSize() const final { return 1; }
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};
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TEST(ParameterBlock, SetStateUpdatesPlusJacobian) {
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TestManifold test_manifold;
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double x[1] = {1.0};
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ParameterBlock parameter_block(x, 1, -1, &test_manifold);
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EXPECT_EQ(2.0, *parameter_block.PlusJacobian());
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x[0] = 5.5;
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parameter_block.SetState(x);
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EXPECT_EQ(11.0, *parameter_block.PlusJacobian());
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}
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TEST(ParameterBlock, PlusWithNoManifold) {
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double x[2] = {1.0, 2.0};
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ParameterBlock parameter_block(x, 2, -1);
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double delta[2] = {0.2, 0.3};
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double x_plus_delta[2];
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parameter_block.Plus(x, delta, x_plus_delta);
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EXPECT_EQ(1.2, x_plus_delta[0]);
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EXPECT_EQ(2.3, x_plus_delta[1]);
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}
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// Stops computing the plus_jacobian after the first time.
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class BadManifold : public Manifold {
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public:
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BadManifold() = default;
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bool Plus(const double* x,
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const double* delta,
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double* x_plus_delta) const final {
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*x_plus_delta = *x + *delta;
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return true;
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}
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bool PlusJacobian(const double* x, double* jacobian) const final {
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if (calls_ == 0) {
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jacobian[0] = 0;
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}
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++calls_;
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return true;
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}
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bool Minus(const double* y, const double* x, double* y_minus_x) const final {
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LOG(FATAL) << "Shouldn't get called";
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return true;
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}
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bool MinusJacobian(const double* x, double* jacobian) const final {
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jacobian[0] = *x * 2;
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return true;
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}
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int AmbientSize() const final { return 1; }
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int TangentSize() const final { return 1; }
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private:
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mutable int calls_{0};
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};
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TEST(ParameterBlock, DetectBadManifold) {
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double x = 1;
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BadManifold bad_manifold;
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ParameterBlock parameter_block(&x, 1, -1, &bad_manifold);
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double y = 2;
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EXPECT_FALSE(parameter_block.SetState(&y));
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}
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TEST(ParameterBlock, DefaultBounds) {
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double x[2];
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ParameterBlock parameter_block(x, 2, -1, nullptr);
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EXPECT_EQ(parameter_block.UpperBoundForParameter(0),
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std::numeric_limits<double>::max());
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EXPECT_EQ(parameter_block.UpperBoundForParameter(1),
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std::numeric_limits<double>::max());
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EXPECT_EQ(parameter_block.LowerBoundForParameter(0),
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-std::numeric_limits<double>::max());
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EXPECT_EQ(parameter_block.LowerBoundForParameter(1),
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-std::numeric_limits<double>::max());
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}
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TEST(ParameterBlock, SetBounds) {
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double x[2];
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ParameterBlock parameter_block(x, 2, -1, nullptr);
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parameter_block.SetLowerBound(0, 1);
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parameter_block.SetUpperBound(1, 1);
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EXPECT_EQ(parameter_block.LowerBoundForParameter(0), 1.0);
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EXPECT_EQ(parameter_block.LowerBoundForParameter(1),
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-std::numeric_limits<double>::max());
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EXPECT_EQ(parameter_block.UpperBoundForParameter(0),
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std::numeric_limits<double>::max());
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EXPECT_EQ(parameter_block.UpperBoundForParameter(1), 1.0);
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}
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TEST(ParameterBlock, PlusWithBoundsConstraints) {
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double x[] = {1.0, 0.0};
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double delta[] = {2.0, -10.0};
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ParameterBlock parameter_block(x, 2, -1, nullptr);
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parameter_block.SetUpperBound(0, 2.0);
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parameter_block.SetLowerBound(1, -1.0);
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double x_plus_delta[2];
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parameter_block.Plus(x, delta, x_plus_delta);
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EXPECT_EQ(x_plus_delta[0], 2.0);
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EXPECT_EQ(x_plus_delta[1], -1.0);
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}
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TEST(ParameterBlock, ResetManifoldToNull) {
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double x[3] = {1.0, 2.0, 3.0};
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ParameterBlock parameter_block(x, 3, -1);
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std::vector<int> indices;
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indices.push_back(1);
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SubsetManifold subset(3, indices);
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parameter_block.SetManifold(&subset);
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EXPECT_EQ(parameter_block.manifold(), &subset);
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parameter_block.SetManifold(nullptr);
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EXPECT_EQ(parameter_block.manifold(), nullptr);
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}
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TEST(ParameterBlock, ResetManifoldToNotNull) {
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double x[3] = {1.0, 2.0, 3.0};
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ParameterBlock parameter_block(x, 3, -1);
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std::vector<int> indices;
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indices.push_back(1);
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SubsetManifold subset(3, indices);
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parameter_block.SetManifold(&subset);
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EXPECT_EQ(parameter_block.manifold(), &subset);
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SubsetManifold subset_different(3, indices);
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parameter_block.SetManifold(&subset_different);
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EXPECT_EQ(parameter_block.manifold(), &subset_different);
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}
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TEST(ParameterBlock, SetNullManifold) {
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double x[3] = {1.0, 2.0, 3.0};
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ParameterBlock parameter_block(x, 3, -1);
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EXPECT_EQ(parameter_block.manifold(), nullptr);
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parameter_block.SetManifold(nullptr);
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EXPECT_EQ(parameter_block.manifold(), nullptr);
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}
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} // namespace internal
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} // namespace ceres
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