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Diffstat (limited to 'internal/ceres/residual_block_utils_test.cc')
| -rw-r--r-- | internal/ceres/residual_block_utils_test.cc | 165 |
1 files changed, 165 insertions, 0 deletions
diff --git a/internal/ceres/residual_block_utils_test.cc b/internal/ceres/residual_block_utils_test.cc new file mode 100644 index 0000000..db9ad6d --- /dev/null +++ b/internal/ceres/residual_block_utils_test.cc @@ -0,0 +1,165 @@ +// 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) + +#include <cmath> +#include <limits> +#include "gtest/gtest.h" +#include "ceres/parameter_block.h" +#include "ceres/residual_block.h" +#include "ceres/residual_block_utils.h" +#include "ceres/cost_function.h" +#include "ceres/internal/scoped_ptr.h" +#include "ceres/sized_cost_function.h" + +namespace ceres { +namespace internal { + +// Routine to check if ResidualBlock::Evaluate for unary CostFunction +// with one residual succeeds with true or dies. +void CheckEvaluation(const CostFunction& cost_function, bool is_good) { + double x = 1.0; + ParameterBlock parameter_block(&x, 1); + vector<ParameterBlock*> parameter_blocks; + parameter_blocks.push_back(¶meter_block); + + ResidualBlock residual_block(&cost_function, + NULL, + parameter_blocks); + + scoped_array<double> scratch( + new double[residual_block.NumScratchDoublesForEvaluate()]); + + double cost; + double residuals; + double jacobian; + double* jacobians[] = { &jacobian }; + + EXPECT_EQ(residual_block.Evaluate(&cost, + &residuals, + jacobians, + scratch.get()), is_good); +} + +// A CostFunction that behaves normaly, i.e., it computes numerically +// valid residuals and jacobians. +class GoodCostFunction: public SizedCostFunction<1, 1> { + public: + virtual bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const { + residuals[0] = 1; + if (jacobians != NULL && jacobians[0] != NULL) { + jacobians[0][0] = 0.0; + } + return true; + } +}; + +// The following four CostFunctions simulate the different ways in +// which user code can cause ResidualBlock::Evaluate to fail. +class NoResidualUpdateCostFunction: public SizedCostFunction<1, 1> { + public: + virtual bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const { + // Forget to update the residuals. + // residuals[0] = 1; + if (jacobians != NULL && jacobians[0] != NULL) { + jacobians[0][0] = 0.0; + } + return true; + } +}; + +class NoJacobianUpdateCostFunction: public SizedCostFunction<1, 1> { + public: + virtual bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const { + residuals[0] = 1; + if (jacobians != NULL && jacobians[0] != NULL) { + // Forget to update the jacobians. + // jacobians[0][0] = 0.0; + } + return true; + } +}; + +class BadResidualCostFunction: public SizedCostFunction<1, 1> { + public: + virtual bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const { + residuals[0] = std::numeric_limits<double>::infinity(); + if (jacobians != NULL && jacobians[0] != NULL) { + jacobians[0][0] = 0.0; + } + return true; + } +}; + +class BadJacobianCostFunction: public SizedCostFunction<1, 1> { + public: + virtual bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const { + residuals[0] = 1.0; + if (jacobians != NULL && jacobians[0] != NULL) { + jacobians[0][0] = std::numeric_limits<double>::quiet_NaN(); + } + return true; + } +}; + +// Note: It is preferable to write the below test as: +// +// CheckEvaluation(GoodCostFunction(), true); +// CheckEvaluation(NoResidualUpdateCostFunction(), false); +// CheckEvaluation(NoJacobianUpdateCostFunction(), false); +// ... +// +// however, there is a bug in the version of GCC on Mac OS X we tested, which +// requires the objects get put into local variables instead of getting +// instantiated on the stack. +TEST(ResidualBlockUtils, CheckAllCombinationsOfBadness) { + GoodCostFunction good_fun; + CheckEvaluation(good_fun, true); + NoResidualUpdateCostFunction no_residual; + CheckEvaluation(no_residual, false); + NoJacobianUpdateCostFunction no_jacobian; + CheckEvaluation(no_jacobian, false); + BadResidualCostFunction bad_residual; + CheckEvaluation(bad_residual, false); + BadJacobianCostFunction bad_jacobian; + CheckEvaluation(bad_jacobian, false); +} + +} // namespace internal +} // namespace ceres |