mirror of
https://github.com/ceres-solver/ceres-solver.git
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Keir Mierle
326 lines
11 KiB
C++
326 lines
11 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 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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// keir@google.com (Keir Mierle)
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#include "ceres/problem.h"
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#include "gtest/gtest.h"
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#include "ceres/cost_function.h"
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#include "ceres/local_parameterization.h"
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#include "ceres/sized_cost_function.h"
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#include "ceres/internal/scoped_ptr.h"
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namespace ceres {
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namespace internal {
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// The following three classes are for the purposes of defining
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// function signatures. They have dummy Evaluate functions.
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// Trivial cost function that accepts a single argument.
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class UnaryCostFunction : public CostFunction {
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public:
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UnaryCostFunction(int num_residuals, int16 parameter_block_size) {
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set_num_residuals(num_residuals);
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mutable_parameter_block_sizes()->push_back(parameter_block_size);
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}
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virtual ~UnaryCostFunction() {}
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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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for (int i = 0; i < num_residuals(); ++i) {
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residuals[i] = 1;
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}
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return true;
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}
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};
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// Trivial cost function that accepts two arguments.
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class BinaryCostFunction: public CostFunction {
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public:
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BinaryCostFunction(int num_residuals,
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int16 parameter_block1_size,
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int16 parameter_block2_size) {
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set_num_residuals(num_residuals);
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mutable_parameter_block_sizes()->push_back(parameter_block1_size);
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mutable_parameter_block_sizes()->push_back(parameter_block2_size);
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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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for (int i = 0; i < num_residuals(); ++i) {
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residuals[i] = 2;
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}
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return true;
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}
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};
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// Trivial cost function that accepts three arguments.
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class TernaryCostFunction: public CostFunction {
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public:
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TernaryCostFunction(int num_residuals,
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int16 parameter_block1_size,
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int16 parameter_block2_size,
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int16 parameter_block3_size) {
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set_num_residuals(num_residuals);
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mutable_parameter_block_sizes()->push_back(parameter_block1_size);
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mutable_parameter_block_sizes()->push_back(parameter_block2_size);
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mutable_parameter_block_sizes()->push_back(parameter_block3_size);
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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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for (int i = 0; i < num_residuals(); ++i) {
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residuals[i] = 3;
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}
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return true;
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}
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};
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TEST(Problem, AddResidualWithNullCostFunctionDies) {
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double x[3], y[4], z[5];
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Problem problem;
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problem.AddParameterBlock(x, 3);
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problem.AddParameterBlock(y, 4);
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problem.AddParameterBlock(z, 5);
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ASSERT_DEATH(problem.AddResidualBlock(NULL, NULL, x),
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"'cost_function' Must be non NULL");
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}
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TEST(Problem, AddResidualWithIncorrectNumberOfParameterBlocksDies) {
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double x[3], y[4], z[5];
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Problem problem;
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problem.AddParameterBlock(x, 3);
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problem.AddParameterBlock(y, 4);
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problem.AddParameterBlock(z, 5);
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// UnaryCostFunction takes only one parameter, but two are passed.
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ASSERT_DEATH(
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problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x, y),
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"parameter_blocks.size()");
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}
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TEST(Problem, AddResidualWithDifferentSizesOnTheSameVariableDies) {
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double x[3];
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Problem problem;
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problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
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ASSERT_DEATH(problem.AddResidualBlock(
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new UnaryCostFunction(2, 4 /* 4 != 3 */), NULL, x),
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"different block sizes");
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}
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TEST(Problem, AddResidualWithDuplicateParametersDies) {
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double x[3], z[5];
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Problem problem;
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ASSERT_DEATH(problem.AddResidualBlock(
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new BinaryCostFunction(2, 3, 3), NULL, x, x),
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"Duplicate parameter blocks");
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ASSERT_DEATH(problem.AddResidualBlock(
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new TernaryCostFunction(1, 5, 3, 5), NULL, z, x, z),
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"Duplicate parameter blocks");
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}
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TEST(Problem, AddResidualWithIncorrectSizesOfParameterBlockDies) {
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double x[3], y[4], z[5];
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Problem problem;
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problem.AddParameterBlock(x, 3);
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problem.AddParameterBlock(y, 4);
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problem.AddParameterBlock(z, 5);
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// The cost function expects the size of the second parameter, z, to be 4
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// instead of 5 as declared above. This is fatal.
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ASSERT_DEATH(problem.AddResidualBlock(
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new BinaryCostFunction(2, 3, 4), NULL, x, z),
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"different block sizes");
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}
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TEST(Problem, AddResidualAddsDuplicatedParametersOnlyOnce) {
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double x[3], y[4], z[5];
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Problem problem;
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problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
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problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
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problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
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problem.AddResidualBlock(new UnaryCostFunction(2, 5), NULL, z);
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EXPECT_EQ(3, problem.NumParameterBlocks());
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EXPECT_EQ(12, problem.NumParameters());
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}
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TEST(Problem, AddParameterWithDifferentSizesOnTheSameVariableDies) {
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double x[3], y[4];
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Problem problem;
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problem.AddParameterBlock(x, 3);
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problem.AddParameterBlock(y, 4);
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ASSERT_DEATH(problem.AddParameterBlock(x, 4), "different block sizes");
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}
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static double *IntToPtr(int i) {
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return reinterpret_cast<double*>(sizeof(double) * i); // NOLINT
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}
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TEST(Problem, AddParameterWithAliasedParametersDies) {
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// Layout is
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//
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// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
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// [x] x x x x [y] y y
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// o==o==o o==o==o o==o
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// o--o--o o--o--o o--o o--o--o
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//
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// Parameter block additions are tested as listed above; expected successful
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// ones marked with o==o and aliasing ones marked with o--o.
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Problem problem;
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problem.AddParameterBlock(IntToPtr(5), 5); // x
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problem.AddParameterBlock(IntToPtr(13), 3); // y
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ASSERT_DEATH(problem.AddParameterBlock(IntToPtr( 4), 2), "Aliasing detected");
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ASSERT_DEATH(problem.AddParameterBlock(IntToPtr( 4), 3), "Aliasing detected");
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ASSERT_DEATH(problem.AddParameterBlock(IntToPtr( 4), 9), "Aliasing detected");
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ASSERT_DEATH(problem.AddParameterBlock(IntToPtr( 8), 3), "Aliasing detected");
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ASSERT_DEATH(problem.AddParameterBlock(IntToPtr(12), 2), "Aliasing detected");
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ASSERT_DEATH(problem.AddParameterBlock(IntToPtr(14), 3), "Aliasing detected");
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// These ones should work.
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problem.AddParameterBlock(IntToPtr( 2), 3);
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problem.AddParameterBlock(IntToPtr(10), 3);
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problem.AddParameterBlock(IntToPtr(16), 2);
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ASSERT_EQ(5, problem.NumParameterBlocks());
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}
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TEST(Problem, AddParameterIgnoresDuplicateCalls) {
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double x[3], y[4];
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Problem problem;
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problem.AddParameterBlock(x, 3);
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problem.AddParameterBlock(y, 4);
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// Creating parameter blocks multiple times is ignored.
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problem.AddParameterBlock(x, 3);
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problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
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// ... even repeatedly.
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problem.AddParameterBlock(x, 3);
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problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
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// More parameters are fine.
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problem.AddParameterBlock(y, 4);
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problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
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EXPECT_EQ(2, problem.NumParameterBlocks());
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EXPECT_EQ(7, problem.NumParameters());
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}
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TEST(Problem, AddingParametersAndResidualsResultsInExpectedProblem) {
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double x[3], y[4], z[5], w[4];
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Problem problem;
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problem.AddParameterBlock(x, 3);
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EXPECT_EQ(1, problem.NumParameterBlocks());
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EXPECT_EQ(3, problem.NumParameters());
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problem.AddParameterBlock(y, 4);
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EXPECT_EQ(2, problem.NumParameterBlocks());
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EXPECT_EQ(7, problem.NumParameters());
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problem.AddParameterBlock(z, 5);
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EXPECT_EQ(3, problem.NumParameterBlocks());
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EXPECT_EQ(12, problem.NumParameters());
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// Add a parameter that has a local parameterization.
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problem.AddParameterBlock(w, 4, new QuaternionParameterization);
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EXPECT_EQ(4, problem.NumParameterBlocks());
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EXPECT_EQ(16, problem.NumParameters());
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problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
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problem.AddResidualBlock(new BinaryCostFunction(6, 5, 4) , NULL, z, y);
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problem.AddResidualBlock(new BinaryCostFunction(3, 3, 5), NULL, x, z);
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problem.AddResidualBlock(new BinaryCostFunction(7, 5, 3), NULL, z, x);
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problem.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4), NULL, z, x, y);
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const int total_residuals = 2 + 6 + 3 + 7 + 1;
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EXPECT_EQ(problem.NumResidualBlocks(), 5);
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EXPECT_EQ(problem.NumResiduals(), total_residuals);
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}
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class DestructorCountingCostFunction : public SizedCostFunction<3, 4, 5> {
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public:
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explicit DestructorCountingCostFunction(int *counter)
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: counter_(counter) {}
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virtual ~DestructorCountingCostFunction() {
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*counter_ += 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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return true;
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}
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private:
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int* counter_;
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};
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TEST(Problem, ReusedCostFunctionsAreOnlyDeletedOnce) {
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double y[4], z[5];
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int counter = 0;
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// Add a cost function multiple times and check to make sure that
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// the destructor on the cost function is only called once.
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{
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Problem problem;
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problem.AddParameterBlock(y, 4);
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problem.AddParameterBlock(z, 5);
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CostFunction* cost = new DestructorCountingCostFunction(&counter);
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problem.AddResidualBlock(cost, NULL, y, z);
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problem.AddResidualBlock(cost, NULL, y, z);
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problem.AddResidualBlock(cost, NULL, y, z);
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}
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// Check that the destructor was called only once.
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CHECK_EQ(counter, 1);
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}
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} // namespace internal
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} // namespace ceres
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