168 lines
5.9 KiB
C++
168 lines
5.9 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: sameeragarwal@google.com (Sameer Agarwal)
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#include <cmath>
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#include <limits>
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#include "gtest/gtest.h"
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#include "ceres/parameter_block.h"
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#include "ceres/residual_block.h"
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#include "ceres/residual_block_utils.h"
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#include "ceres/cost_function.h"
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#include "ceres/internal/scoped_ptr.h"
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#include "ceres/sized_cost_function.h"
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namespace ceres {
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namespace internal {
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// Routine to check if ResidualBlock::Evaluate for unary CostFunction
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// with one residual succeeds with true or dies.
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void CheckEvaluation(const CostFunction& cost_function, bool is_good) {
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double x = 1.0;
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ParameterBlock parameter_block(&x, 1, -1);
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std::vector<ParameterBlock*> parameter_blocks;
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parameter_blocks.push_back(¶meter_block);
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ResidualBlock residual_block(&cost_function,
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NULL,
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parameter_blocks,
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-1);
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scoped_array<double> scratch(
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new double[residual_block.NumScratchDoublesForEvaluate()]);
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double cost;
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double residuals;
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double jacobian;
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double* jacobians[] = { &jacobian };
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EXPECT_EQ(residual_block.Evaluate(true,
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&cost,
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&residuals,
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jacobians,
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scratch.get()), is_good);
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}
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// A CostFunction that behaves normaly, i.e., it computes numerically
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// valid residuals and jacobians.
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class GoodCostFunction: public SizedCostFunction<1, 1> {
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public:
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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[0] = 1;
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if (jacobians != NULL && jacobians[0] != NULL) {
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jacobians[0][0] = 0.0;
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}
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return true;
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}
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};
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// The following four CostFunctions simulate the different ways in
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// which user code can cause ResidualBlock::Evaluate to fail.
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class NoResidualUpdateCostFunction: public SizedCostFunction<1, 1> {
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public:
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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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// Forget to update the residuals.
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// residuals[0] = 1;
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if (jacobians != NULL && jacobians[0] != NULL) {
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jacobians[0][0] = 0.0;
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}
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return true;
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}
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};
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class NoJacobianUpdateCostFunction: public SizedCostFunction<1, 1> {
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public:
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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[0] = 1;
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if (jacobians != NULL && jacobians[0] != NULL) {
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// Forget to update the jacobians.
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// jacobians[0][0] = 0.0;
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}
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return true;
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}
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};
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class BadResidualCostFunction: public SizedCostFunction<1, 1> {
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public:
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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[0] = std::numeric_limits<double>::infinity();
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if (jacobians != NULL && jacobians[0] != NULL) {
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jacobians[0][0] = 0.0;
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}
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return true;
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}
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};
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class BadJacobianCostFunction: public SizedCostFunction<1, 1> {
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public:
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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[0] = 1.0;
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if (jacobians != NULL && jacobians[0] != NULL) {
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jacobians[0][0] = std::numeric_limits<double>::quiet_NaN();
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}
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return true;
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}
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};
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// Note: It is preferable to write the below test as:
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//
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// CheckEvaluation(GoodCostFunction(), true);
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// CheckEvaluation(NoResidualUpdateCostFunction(), false);
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// CheckEvaluation(NoJacobianUpdateCostFunction(), false);
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// ...
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//
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// however, there is a bug in the version of GCC on Mac OS X we tested, which
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// requires the objects get put into local variables instead of getting
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// instantiated on the stack.
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TEST(ResidualBlockUtils, CheckAllCombinationsOfBadness) {
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GoodCostFunction good_fun;
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CheckEvaluation(good_fun, true);
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NoResidualUpdateCostFunction no_residual;
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CheckEvaluation(no_residual, false);
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NoJacobianUpdateCostFunction no_jacobian;
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CheckEvaluation(no_jacobian, false);
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BadResidualCostFunction bad_residual;
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CheckEvaluation(bad_residual, false);
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BadJacobianCostFunction bad_jacobian;
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CheckEvaluation(bad_jacobian, false);
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}
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} // namespace internal
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} // namespace ceres
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