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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: 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, -1);
// 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, -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, -1);
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, -1, &bad_parameterization);
double y = 2;
EXPECT_FALSE(parameter_block.SetState(&y));
}
} // namespace internal
} // namespace ceres
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