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Diffstat (limited to 'internal/ceres/parameter_block_test.cc')
-rw-r--r-- | internal/ceres/parameter_block_test.cc | 173 |
1 files changed, 173 insertions, 0 deletions
diff --git a/internal/ceres/parameter_block_test.cc b/internal/ceres/parameter_block_test.cc new file mode 100644 index 0000000..35998dc --- /dev/null +++ b/internal/ceres/parameter_block_test.cc @@ -0,0 +1,173 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 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: keir@google.com (Keir Mierle) + +#include "ceres/parameter_block.h" + +#include "gtest/gtest.h" +#include "ceres/internal/eigen.h" + +namespace ceres { +namespace internal { + +TEST(ParameterBlock, SetLocalParameterization) { + double x[3] = { 1.0, 2.0, 3.0 }; + ParameterBlock parameter_block(x, 3); + + // The indices to set constant within the parameter block (used later). + vector<int> indices; + indices.push_back(1); + + // Can't set the parameterization if the sizes don't match. + SubsetParameterization subset_wrong_size(4, indices); + EXPECT_DEATH_IF_SUPPORTED( + parameter_block.SetParameterization(&subset_wrong_size), "global"); + + // Can't set parameterization to NULL from NULL. + EXPECT_DEATH_IF_SUPPORTED + (parameter_block.SetParameterization(NULL), "NULL"); + + // Now set the parameterization. + SubsetParameterization subset(3, indices); + parameter_block.SetParameterization(&subset); + + // Re-setting the parameterization to the same value is supported. + parameter_block.SetParameterization(&subset); + + // Can't set parameterization to NULL from another parameterization. + EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(NULL), "NULL"); + + // Can't set the parameterization more than once. + SubsetParameterization subset_different(3, indices); + EXPECT_DEATH_IF_SUPPORTED + (parameter_block.SetParameterization(&subset_different), "re-set"); + + // Ensure the local parameterization jacobian result is correctly computed. + ConstMatrixRef local_parameterization_jacobian( + parameter_block.LocalParameterizationJacobian(), + 3, + 2); + ASSERT_EQ(1.0, local_parameterization_jacobian(0, 0)); + ASSERT_EQ(0.0, local_parameterization_jacobian(0, 1)); + ASSERT_EQ(0.0, local_parameterization_jacobian(1, 0)); + ASSERT_EQ(0.0, local_parameterization_jacobian(1, 1)); + ASSERT_EQ(0.0, local_parameterization_jacobian(2, 0)); + ASSERT_EQ(1.0, local_parameterization_jacobian(2, 1)); + + // Check that updating works as expected. + double x_plus_delta[3]; + double delta[2] = { 0.5, 0.3 }; + parameter_block.Plus(x, delta, x_plus_delta); + ASSERT_EQ(1.5, x_plus_delta[0]); + ASSERT_EQ(2.0, x_plus_delta[1]); + ASSERT_EQ(3.3, x_plus_delta[2]); +} + +struct TestParameterization : public LocalParameterization { + public: + virtual ~TestParameterization() {} + virtual bool Plus(const double* x, + const double* delta, + double* x_plus_delta) const { + LOG(FATAL) << "Shouldn't get called."; + return true; + } + virtual bool ComputeJacobian(const double* x, + double* jacobian) const { + jacobian[0] = *x * 2; + return true; + } + + virtual int GlobalSize() const { return 1; } + virtual int LocalSize() const { return 1; } +}; + +TEST(ParameterBlock, SetStateUpdatesLocalParameterizationJacobian) { + TestParameterization test_parameterization; + double x[1] = { 1.0 }; + ParameterBlock parameter_block(x, 1, &test_parameterization); + + EXPECT_EQ(2.0, *parameter_block.LocalParameterizationJacobian()); + + x[0] = 5.5; + parameter_block.SetState(x); + EXPECT_EQ(11.0, *parameter_block.LocalParameterizationJacobian()); +} + +TEST(ParameterBlock, PlusWithNoLocalParameterization) { + double x[2] = { 1.0, 2.0 }; + ParameterBlock parameter_block(x, 2); + + double delta[2] = { 0.2, 0.3 }; + double x_plus_delta[2]; + parameter_block.Plus(x, delta, x_plus_delta); + EXPECT_EQ(1.2, x_plus_delta[0]); + EXPECT_EQ(2.3, x_plus_delta[1]); +} + +// Stops computing the jacobian after the first time. +class BadLocalParameterization : public LocalParameterization { + public: + BadLocalParameterization() + : calls_(0) { + } + + virtual ~BadLocalParameterization() {} + virtual bool Plus(const double* x, + const double* delta, + double* x_plus_delta) const { + *x_plus_delta = *x + *delta; + return true; + } + + virtual bool ComputeJacobian(const double* x, double* jacobian) const { + if (calls_ == 0) { + jacobian[0] = 0; + } + ++calls_; + return true; + } + + virtual int GlobalSize() const { return 1;} + virtual int LocalSize() const { return 1;} + + private: + mutable int calls_; +}; + +TEST(ParameterBlock, DetectBadLocalParameterization) { + double x = 1; + BadLocalParameterization bad_parameterization; + ParameterBlock parameter_block(&x, 1, &bad_parameterization); + double y = 2; + EXPECT_FALSE(parameter_block.SetState(&y)); +} + +} // namespace internal +} // namespace ceres |