1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
|
// 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, -1);
vector<ParameterBlock*> parameter_blocks;
parameter_blocks.push_back(¶meter_block);
ResidualBlock residual_block(&cost_function,
NULL,
parameter_blocks,
-1);
scoped_array<double> scratch(
new double[residual_block.NumScratchDoublesForEvaluate()]);
double cost;
double residuals;
double jacobian;
double* jacobians[] = { &jacobian };
EXPECT_EQ(residual_block.Evaluate(true,
&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
|
