mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
127 lines
4.5 KiB
C++
127 lines
4.5 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: wjr@google.com (William Rucklidge)
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//
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// Tests for the conditioned cost function.
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#include "ceres/conditioned_cost_function.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/normal_prior.h"
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#include "ceres/types.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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// The size of the cost functions we build.
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static const int kTestCostFunctionSize = 3;
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// A simple cost function: return ax + b.
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class LinearCostFunction : public CostFunction {
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public:
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LinearCostFunction(double a, double b) : a_(a), b_(b) {
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set_num_residuals(1);
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mutable_parameter_block_sizes()->push_back(1);
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}
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virtual bool Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const {
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*residuals = **parameters * a_ + b_;
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if (jacobians && *jacobians) {
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**jacobians = a_;
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}
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return true;
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}
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private:
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const double a_, b_;
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};
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// Tests that ConditionedCostFunction does what it's supposed to.
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TEST(CostFunctionTest, ConditionedCostFunction) {
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double v1[kTestCostFunctionSize], v2[kTestCostFunctionSize],
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jac[kTestCostFunctionSize * kTestCostFunctionSize],
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result[kTestCostFunctionSize];
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for (int i = 0; i < kTestCostFunctionSize; i++) {
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v1[i] = i;
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v2[i] = i * 10;
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// Seed a few garbage values in the Jacobian matrix, to make sure that
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// they're overwritten.
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jac[i * 2] = i * i;
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result[i] = i * i * i;
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}
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// Make a cost function that computes x - v2
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VectorRef v2_vector(v2, kTestCostFunctionSize, 1);
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Matrix identity(kTestCostFunctionSize, kTestCostFunctionSize);
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identity.setIdentity();
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NormalPrior* difference_cost_function = new NormalPrior(identity, v2_vector);
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std::vector<CostFunction*> conditioners;
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for (int i = 0; i < kTestCostFunctionSize; i++) {
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conditioners.push_back(new LinearCostFunction(i + 2, i * 7));
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}
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ConditionedCostFunction conditioned_cost_function(difference_cost_function,
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conditioners,
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TAKE_OWNERSHIP);
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EXPECT_EQ(difference_cost_function->num_residuals(),
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conditioned_cost_function.num_residuals());
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EXPECT_EQ(difference_cost_function->parameter_block_sizes(),
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conditioned_cost_function.parameter_block_sizes());
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double *parameters[1];
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parameters[0] = v1;
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double *jacs[1];
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jacs[0] = jac;
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conditioned_cost_function.Evaluate(parameters, result, jacs);
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for (int i = 0; i < kTestCostFunctionSize; i++) {
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EXPECT_DOUBLE_EQ((i + 2) * (v1[i] - v2[i]) + i * 7, result[i]);
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}
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for (int i = 0; i < kTestCostFunctionSize; i++) {
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for (int j = 0; j < kTestCostFunctionSize; j++) {
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double actual = jac[i * kTestCostFunctionSize + j];
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if (i != j) {
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EXPECT_DOUBLE_EQ(0, actual);
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} else {
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EXPECT_DOUBLE_EQ(i + 2, actual);
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}
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}
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}
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}
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} // namespace internal
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} // namespace ceres
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