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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