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+// 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: sameeragarwal@google.com (Sameer Agarwal)
+// keir@google.com (Keir Mierle)
+
+#include "ceres/problem.h"
+
+#include "gtest/gtest.h"
+#include "ceres/cost_function.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// The following three classes are for the purposes of defining
+// function signatures. They have dummy Evaluate functions.
+
+// Trivial cost function that accepts a single argument.
+class UnaryCostFunction : public CostFunction {
+ public:
+ UnaryCostFunction(int num_residuals, int16 parameter_block_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block_size);
+ }
+ virtual ~UnaryCostFunction() {}
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 1;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts two arguments.
+class BinaryCostFunction: public CostFunction {
+ public:
+ BinaryCostFunction(int num_residuals,
+ int16 parameter_block1_size,
+ int16 parameter_block2_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 2;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+ TernaryCostFunction(int num_residuals,
+ int16 parameter_block1_size,
+ int16 parameter_block2_size,
+ int16 parameter_block3_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 3;
+ }
+ return true;
+ }
+};
+
+TEST(Problem, AddResidualWithNullCostFunctionDies) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(NULL, NULL, x),
+ "'cost_function' Must be non NULL");
+}
+
+TEST(Problem, AddResidualWithIncorrectNumberOfParameterBlocksDies) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ // UnaryCostFunction takes only one parameter, but two are passed.
+ EXPECT_DEATH_IF_SUPPORTED(
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x, y),
+ "parameter_blocks.size()");
+}
+
+TEST(Problem, AddResidualWithDifferentSizesOnTheSameVariableDies) {
+ double x[3];
+
+ Problem problem;
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new UnaryCostFunction(
+ 2, 4 /* 4 != 3 */), NULL, x),
+ "different block sizes");
+}
+
+TEST(Problem, AddResidualWithDuplicateParametersDies) {
+ double x[3], z[5];
+
+ Problem problem;
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new BinaryCostFunction(2, 3, 3), NULL, x, x),
+ "Duplicate parameter blocks");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new TernaryCostFunction(1, 5, 3, 5),
+ NULL, z, x, z),
+ "Duplicate parameter blocks");
+}
+
+TEST(Problem, AddResidualWithIncorrectSizesOfParameterBlockDies) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ // The cost function expects the size of the second parameter, z, to be 4
+ // instead of 5 as declared above. This is fatal.
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new BinaryCostFunction(2, 3, 4), NULL, x, z),
+ "different block sizes");
+}
+
+TEST(Problem, AddResidualAddsDuplicatedParametersOnlyOnce) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 5), NULL, z);
+
+ EXPECT_EQ(3, problem.NumParameterBlocks());
+ EXPECT_EQ(12, problem.NumParameters());
+}
+
+TEST(Problem, AddParameterWithDifferentSizesOnTheSameVariableDies) {
+ double x[3], y[4];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(x, 4),
+ "different block sizes");
+}
+
+static double *IntToPtr(int i) {
+ return reinterpret_cast<double*>(sizeof(double) * i); // NOLINT
+}
+
+TEST(Problem, AddParameterWithAliasedParametersDies) {
+ // Layout is
+ //
+ // 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
+ // [x] x x x x [y] y y
+ // o==o==o o==o==o o==o
+ // o--o--o o--o--o o--o o--o--o
+ //
+ // Parameter block additions are tested as listed above; expected successful
+ // ones marked with o==o and aliasing ones marked with o--o.
+
+ Problem problem;
+ problem.AddParameterBlock(IntToPtr(5), 5); // x
+ problem.AddParameterBlock(IntToPtr(13), 3); // y
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 2),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 3),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 9),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 8), 3),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(12), 2),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(14), 3),
+ "Aliasing detected");
+
+ // These ones should work.
+ problem.AddParameterBlock(IntToPtr( 2), 3);
+ problem.AddParameterBlock(IntToPtr(10), 3);
+ problem.AddParameterBlock(IntToPtr(16), 2);
+
+ ASSERT_EQ(5, problem.NumParameterBlocks());
+}
+
+TEST(Problem, AddParameterIgnoresDuplicateCalls) {
+ double x[3], y[4];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+
+ // Creating parameter blocks multiple times is ignored.
+ problem.AddParameterBlock(x, 3);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+
+ // ... even repeatedly.
+ problem.AddParameterBlock(x, 3);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+
+ // More parameters are fine.
+ problem.AddParameterBlock(y, 4);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
+
+ EXPECT_EQ(2, problem.NumParameterBlocks());
+ EXPECT_EQ(7, problem.NumParameters());
+}
+
+TEST(Problem, AddingParametersAndResidualsResultsInExpectedProblem) {
+ double x[3], y[4], z[5], w[4];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ EXPECT_EQ(1, problem.NumParameterBlocks());
+ EXPECT_EQ(3, problem.NumParameters());
+
+ problem.AddParameterBlock(y, 4);
+ EXPECT_EQ(2, problem.NumParameterBlocks());
+ EXPECT_EQ(7, problem.NumParameters());
+
+ problem.AddParameterBlock(z, 5);
+ EXPECT_EQ(3, problem.NumParameterBlocks());
+ EXPECT_EQ(12, problem.NumParameters());
+
+ // Add a parameter that has a local parameterization.
+ w[0] = 1.0; w[1] = 0.0; w[2] = 0.0; w[3] = 0.0;
+ problem.AddParameterBlock(w, 4, new QuaternionParameterization);
+ EXPECT_EQ(4, problem.NumParameterBlocks());
+ EXPECT_EQ(16, problem.NumParameters());
+
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem.AddResidualBlock(new BinaryCostFunction(6, 5, 4) , NULL, z, y);
+ problem.AddResidualBlock(new BinaryCostFunction(3, 3, 5), NULL, x, z);
+ problem.AddResidualBlock(new BinaryCostFunction(7, 5, 3), NULL, z, x);
+ problem.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4), NULL, z, x, y);
+
+ const int total_residuals = 2 + 6 + 3 + 7 + 1;
+ EXPECT_EQ(problem.NumResidualBlocks(), 5);
+ EXPECT_EQ(problem.NumResiduals(), total_residuals);
+}
+
+class DestructorCountingCostFunction : public SizedCostFunction<3, 4, 5> {
+ public:
+ explicit DestructorCountingCostFunction(int *counter)
+ : counter_(counter) {}
+
+ virtual ~DestructorCountingCostFunction() {
+ *counter_ += 1;
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return true;
+ }
+
+ private:
+ int* counter_;
+};
+
+TEST(Problem, ReusedCostFunctionsAreOnlyDeletedOnce) {
+ double y[4], z[5];
+ int counter = 0;
+
+ // Add a cost function multiple times and check to make sure that
+ // the destructor on the cost function is only called once.
+ {
+ Problem problem;
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ CostFunction* cost = new DestructorCountingCostFunction(&counter);
+ problem.AddResidualBlock(cost, NULL, y, z);
+ problem.AddResidualBlock(cost, NULL, y, z);
+ problem.AddResidualBlock(cost, NULL, y, z);
+ }
+
+ // Check that the destructor was called only once.
+ CHECK_EQ(counter, 1);
+}
+
+} // namespace internal
+} // namespace ceres
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