diff options
Diffstat (limited to 'internal/ceres/cost_function_to_functor_test.cc')
-rw-r--r-- | internal/ceres/cost_function_to_functor_test.cc | 305 |
1 files changed, 305 insertions, 0 deletions
diff --git a/internal/ceres/cost_function_to_functor_test.cc b/internal/ceres/cost_function_to_functor_test.cc new file mode 100644 index 0000000..90ccc82 --- /dev/null +++ b/internal/ceres/cost_function_to_functor_test.cc @@ -0,0 +1,305 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2013 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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 +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) + +#include "ceres/cost_function_to_functor.h" +#include "ceres/autodiff_cost_function.h" +#include "gtest/gtest.h" + +namespace ceres { +namespace internal { + +const double kTolerance = 1e-18; + +void ExpectCostFunctionsAreEqual(const CostFunction& cost_function, + const CostFunction& actual_cost_function) { + EXPECT_EQ(cost_function.num_residuals(), + actual_cost_function.num_residuals()); + const int num_residuals = cost_function.num_residuals(); + const vector<int16>& parameter_block_sizes = + cost_function.parameter_block_sizes(); + const vector<int16>& actual_parameter_block_sizes = + actual_cost_function.parameter_block_sizes(); + EXPECT_EQ(parameter_block_sizes.size(), + actual_parameter_block_sizes.size()); + + int num_parameters = 0; + for (int i = 0; i < parameter_block_sizes.size(); ++i) { + EXPECT_EQ(parameter_block_sizes[i], actual_parameter_block_sizes[i]); + num_parameters += parameter_block_sizes[i]; + } + + scoped_array<double> parameters(new double[num_parameters]); + for (int i = 0; i < num_parameters; ++i) { + parameters[i] = static_cast<double>(i) + 1.0; + } + + scoped_array<double> residuals(new double[num_residuals]); + scoped_array<double> jacobians(new double[num_parameters * num_residuals]); + + scoped_array<double> actual_residuals(new double[num_residuals]); + scoped_array<double> actual_jacobians + (new double[num_parameters * num_residuals]); + + scoped_array<double*> parameter_blocks( + new double*[parameter_block_sizes.size()]); + scoped_array<double*> jacobian_blocks( + new double*[parameter_block_sizes.size()]); + scoped_array<double*> actual_jacobian_blocks( + new double*[parameter_block_sizes.size()]); + + num_parameters = 0; + for (int i = 0; i < parameter_block_sizes.size(); ++i) { + parameter_blocks[i] = parameters.get() + num_parameters; + jacobian_blocks[i] = jacobians.get() + num_parameters * num_residuals; + actual_jacobian_blocks[i] = + actual_jacobians.get() + num_parameters * num_residuals; + num_parameters += parameter_block_sizes[i]; + } + + EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(), + residuals.get(), NULL)); + EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(), + actual_residuals.get(), NULL)); + for (int i = 0; i < num_residuals; ++i) { + EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance) + << "residual id: " << i; + } + + + EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(), + residuals.get(), + jacobian_blocks.get())); + EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(), + actual_residuals.get(), + actual_jacobian_blocks.get())); + for (int i = 0; i < num_residuals; ++i) { + EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance) + << "residual : " << i; + } + + for (int i = 0; i < num_residuals * num_parameters; ++i) { + EXPECT_NEAR(jacobians[i], actual_jacobians[i], kTolerance) + << "jacobian : " << i << " " + << jacobians[i] << " " << actual_jacobians[i]; + } +}; + +struct OneParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, T* residuals) const { + residuals[0] = x1[0] * x1[0]; + residuals[1] = x1[1] * x1[1]; + return true; + } +}; + +struct TwoParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, const T* x2, T* residuals) const { + residuals[0] = x1[0] * x1[0] + x2[0] * x2[0]; + residuals[1] = x1[1] * x1[1] + x2[1] * x2[1]; + return true; + } +}; + +struct ThreeParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, const T* x2, const T* x3, T* residuals) const { + residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]; + residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]; + return true; + } +}; + +struct FourParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, const T* x2, const T* x3, const T* x4, + T* residuals) const { + residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0] + + x4[0] * x4[0]; + residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1] + + x4[1] * x4[1]; + return true; + } +}; + +struct FiveParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, const T* x2, const T* x3, const T* x4, + const T* x5, T* residuals) const { + residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0] + + x4[0] * x4[0] + x5[0] * x5[0]; + residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1] + + x4[1] * x4[1] + x5[1] * x5[1]; + return true; + } +}; + +struct SixParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, const T* x2, const T* x3, const T* x4, + const T* x5, const T* x6, T* residuals) const { + residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0] + + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0]; + residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1] + + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1]; + return true; + } +}; + +struct SevenParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, const T* x2, const T* x3, const T* x4, + const T* x5, const T* x6, const T* x7, T* residuals) const { + residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0] + + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]; + residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1] + + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]; + return true; + } +}; + +struct EightParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, const T* x2, const T* x3, const T* x4, + const T* x5, const T* x6, const T* x7, const T* x8, + T* residuals) const { + residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0] + + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0] + + x8[0] * x8[0]; + residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1] + + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1] + + x8[1] * x8[1]; + return true; + } +}; + +struct NineParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, const T* x2, const T* x3, const T* x4, + const T* x5, const T* x6, const T* x7, const T* x8, + const T* x9, T* residuals) const { + residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0] + + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0] + + x8[0] * x8[0] + x9[0] * x9[0]; + residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1] + + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1] + + x8[1] * x8[1] + x9[1] * x9[1]; + return true; + } +}; + +struct TenParameterBlockFunctor { + public: + template <typename T> + bool operator()(const T* x1, const T* x2, const T* x3, const T* x4, + const T* x5, const T* x6, const T* x7, const T* x8, + const T* x9, const T* x10, T* residuals) const { + residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0] + + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0] + + x8[0] * x8[0] + x9[0] * x9[0] + x10[0] * x10[0]; + residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1] + + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1] + + x8[1] * x8[1] + x9[1] * x9[1] + x10[1] * x10[1]; + return true; + } +}; + +#define TEST_BODY(NAME) \ + TEST(CostFunctionToFunctor, NAME) { \ + scoped_ptr<CostFunction> cost_function( \ + new AutoDiffCostFunction< \ + CostFunctionToFunctor<2, PARAMETER_BLOCK_SIZES >, \ + 2, PARAMETER_BLOCK_SIZES>(new CostFunctionToFunctor< \ + 2, PARAMETER_BLOCK_SIZES >( \ + new AutoDiffCostFunction< \ + NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \ + new NAME##Functor)))); \ + \ +scoped_ptr<CostFunction> actual_cost_function( \ + new AutoDiffCostFunction<NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \ + new NAME##Functor)); \ +ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function); \ +} + +#define PARAMETER_BLOCK_SIZES 2 +TEST_BODY(OneParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#define PARAMETER_BLOCK_SIZES 2,2 +TEST_BODY(TwoParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#define PARAMETER_BLOCK_SIZES 2,2,2 +TEST_BODY(ThreeParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#define PARAMETER_BLOCK_SIZES 2,2,2,2 +TEST_BODY(FourParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#define PARAMETER_BLOCK_SIZES 2,2,2,2,2 +TEST_BODY(FiveParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2 +TEST_BODY(SixParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2 +TEST_BODY(SevenParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2 +TEST_BODY(EightParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2 +TEST_BODY(NineParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2,2 +TEST_BODY(TenParameterBlock) +#undef PARAMETER_BLOCK_SIZES + +#undef TEST_BODY + + +} // namespace internal +} // namespace ceres |