MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/internal/ceres/gradient_problem_solver_test.cc
2019-01-03 16:25:18 +08:00

77 lines
3.0 KiB
C++

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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//
// Author: strandmark@google.com (Petter Strandmark)
#include "ceres/gradient_problem.h"
#include "ceres/gradient_problem_solver.h"
#include "gtest/gtest.h"
namespace ceres {
namespace internal {
// Rosenbrock function; see http://en.wikipedia.org/wiki/Rosenbrock_function .
class Rosenbrock : public ceres::FirstOrderFunction {
public:
virtual ~Rosenbrock() {}
virtual bool Evaluate(const double* parameters,
double* cost,
double* gradient) const {
const double x = parameters[0];
const double y = parameters[1];
cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
if (gradient != NULL) {
gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
gradient[1] = 200.0 * (y - x * x);
}
return true;
}
virtual int NumParameters() const { return 2; }
};
TEST(GradientProblemSolver, SolvesRosenbrockWithDefaultOptions) {
const double expected_tolerance = 1e-9;
double parameters[2] = {-1.2, 0.0};
ceres::GradientProblemSolver::Options options;
ceres::GradientProblemSolver::Summary summary;
ceres::GradientProblem problem(new Rosenbrock());
ceres::Solve(options, problem, parameters, &summary);
EXPECT_EQ(CONVERGENCE, summary.termination_type);
EXPECT_NEAR(1.0, parameters[0], expected_tolerance);
EXPECT_NEAR(1.0, parameters[1], expected_tolerance);
}
} // namespace internal
} // namespace ceres