1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2013 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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28 //
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include "ceres/cost_function_to_functor.h"
32 #include "ceres/autodiff_cost_function.h"
33 #include "gtest/gtest.h"
34
35 namespace ceres {
36 namespace internal {
37
38 const double kTolerance = 1e-18;
39
ExpectCostFunctionsAreEqual(const CostFunction & cost_function,const CostFunction & actual_cost_function)40 void ExpectCostFunctionsAreEqual(const CostFunction& cost_function,
41 const CostFunction& actual_cost_function) {
42 EXPECT_EQ(cost_function.num_residuals(),
43 actual_cost_function.num_residuals());
44 const int num_residuals = cost_function.num_residuals();
45 const vector<int32>& parameter_block_sizes =
46 cost_function.parameter_block_sizes();
47 const vector<int32>& actual_parameter_block_sizes =
48 actual_cost_function.parameter_block_sizes();
49 EXPECT_EQ(parameter_block_sizes.size(),
50 actual_parameter_block_sizes.size());
51
52 int num_parameters = 0;
53 for (int i = 0; i < parameter_block_sizes.size(); ++i) {
54 EXPECT_EQ(parameter_block_sizes[i], actual_parameter_block_sizes[i]);
55 num_parameters += parameter_block_sizes[i];
56 }
57
58 scoped_array<double> parameters(new double[num_parameters]);
59 for (int i = 0; i < num_parameters; ++i) {
60 parameters[i] = static_cast<double>(i) + 1.0;
61 }
62
63 scoped_array<double> residuals(new double[num_residuals]);
64 scoped_array<double> jacobians(new double[num_parameters * num_residuals]);
65
66 scoped_array<double> actual_residuals(new double[num_residuals]);
67 scoped_array<double> actual_jacobians
68 (new double[num_parameters * num_residuals]);
69
70 scoped_array<double*> parameter_blocks(
71 new double*[parameter_block_sizes.size()]);
72 scoped_array<double*> jacobian_blocks(
73 new double*[parameter_block_sizes.size()]);
74 scoped_array<double*> actual_jacobian_blocks(
75 new double*[parameter_block_sizes.size()]);
76
77 num_parameters = 0;
78 for (int i = 0; i < parameter_block_sizes.size(); ++i) {
79 parameter_blocks[i] = parameters.get() + num_parameters;
80 jacobian_blocks[i] = jacobians.get() + num_parameters * num_residuals;
81 actual_jacobian_blocks[i] =
82 actual_jacobians.get() + num_parameters * num_residuals;
83 num_parameters += parameter_block_sizes[i];
84 }
85
86 EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
87 residuals.get(), NULL));
88 EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
89 actual_residuals.get(), NULL));
90 for (int i = 0; i < num_residuals; ++i) {
91 EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
92 << "residual id: " << i;
93 }
94
95
96 EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
97 residuals.get(),
98 jacobian_blocks.get()));
99 EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
100 actual_residuals.get(),
101 actual_jacobian_blocks.get()));
102 for (int i = 0; i < num_residuals; ++i) {
103 EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
104 << "residual : " << i;
105 }
106
107 for (int i = 0; i < num_residuals * num_parameters; ++i) {
108 EXPECT_NEAR(jacobians[i], actual_jacobians[i], kTolerance)
109 << "jacobian : " << i << " "
110 << jacobians[i] << " " << actual_jacobians[i];
111 }
112 };
113
114 struct OneParameterBlockFunctor {
115 public:
116 template <typename T>
operator ()ceres::internal::OneParameterBlockFunctor117 bool operator()(const T* x1, T* residuals) const {
118 residuals[0] = x1[0] * x1[0];
119 residuals[1] = x1[1] * x1[1];
120 return true;
121 }
122 };
123
124 struct TwoParameterBlockFunctor {
125 public:
126 template <typename T>
operator ()ceres::internal::TwoParameterBlockFunctor127 bool operator()(const T* x1, const T* x2, T* residuals) const {
128 residuals[0] = x1[0] * x1[0] + x2[0] * x2[0];
129 residuals[1] = x1[1] * x1[1] + x2[1] * x2[1];
130 return true;
131 }
132 };
133
134 struct ThreeParameterBlockFunctor {
135 public:
136 template <typename T>
operator ()ceres::internal::ThreeParameterBlockFunctor137 bool operator()(const T* x1, const T* x2, const T* x3, T* residuals) const {
138 residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0];
139 residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1];
140 return true;
141 }
142 };
143
144 struct FourParameterBlockFunctor {
145 public:
146 template <typename T>
operator ()ceres::internal::FourParameterBlockFunctor147 bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
148 T* residuals) const {
149 residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
150 + x4[0] * x4[0];
151 residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
152 + x4[1] * x4[1];
153 return true;
154 }
155 };
156
157 struct FiveParameterBlockFunctor {
158 public:
159 template <typename T>
operator ()ceres::internal::FiveParameterBlockFunctor160 bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
161 const T* x5, T* residuals) const {
162 residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
163 + x4[0] * x4[0] + x5[0] * x5[0];
164 residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
165 + x4[1] * x4[1] + x5[1] * x5[1];
166 return true;
167 }
168 };
169
170 struct SixParameterBlockFunctor {
171 public:
172 template <typename T>
operator ()ceres::internal::SixParameterBlockFunctor173 bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
174 const T* x5, const T* x6, T* residuals) const {
175 residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
176 + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0];
177 residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
178 + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1];
179 return true;
180 }
181 };
182
183 struct SevenParameterBlockFunctor {
184 public:
185 template <typename T>
operator ()ceres::internal::SevenParameterBlockFunctor186 bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
187 const T* x5, const T* x6, const T* x7, T* residuals) const {
188 residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
189 + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0];
190 residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
191 + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1];
192 return true;
193 }
194 };
195
196 struct EightParameterBlockFunctor {
197 public:
198 template <typename T>
operator ()ceres::internal::EightParameterBlockFunctor199 bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
200 const T* x5, const T* x6, const T* x7, const T* x8,
201 T* residuals) const {
202 residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
203 + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
204 + x8[0] * x8[0];
205 residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
206 + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
207 + x8[1] * x8[1];
208 return true;
209 }
210 };
211
212 struct NineParameterBlockFunctor {
213 public:
214 template <typename T>
operator ()ceres::internal::NineParameterBlockFunctor215 bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
216 const T* x5, const T* x6, const T* x7, const T* x8,
217 const T* x9, T* residuals) const {
218 residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
219 + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
220 + x8[0] * x8[0] + x9[0] * x9[0];
221 residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
222 + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
223 + x8[1] * x8[1] + x9[1] * x9[1];
224 return true;
225 }
226 };
227
228 struct TenParameterBlockFunctor {
229 public:
230 template <typename T>
operator ()ceres::internal::TenParameterBlockFunctor231 bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
232 const T* x5, const T* x6, const T* x7, const T* x8,
233 const T* x9, const T* x10, T* residuals) const {
234 residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
235 + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
236 + x8[0] * x8[0] + x9[0] * x9[0] + x10[0] * x10[0];
237 residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
238 + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
239 + x8[1] * x8[1] + x9[1] * x9[1] + x10[1] * x10[1];
240 return true;
241 }
242 };
243
244 #define TEST_BODY(NAME) \
245 TEST(CostFunctionToFunctor, NAME) { \
246 scoped_ptr<CostFunction> cost_function( \
247 new AutoDiffCostFunction< \
248 CostFunctionToFunctor<2, PARAMETER_BLOCK_SIZES >, \
249 2, PARAMETER_BLOCK_SIZES>(new CostFunctionToFunctor< \
250 2, PARAMETER_BLOCK_SIZES >( \
251 new AutoDiffCostFunction< \
252 NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
253 new NAME##Functor)))); \
254 \
255 scoped_ptr<CostFunction> actual_cost_function( \
256 new AutoDiffCostFunction<NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
257 new NAME##Functor)); \
258 ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function); \
259 }
260
261 #define PARAMETER_BLOCK_SIZES 2
262 TEST_BODY(OneParameterBlock)
263 #undef PARAMETER_BLOCK_SIZES
264
265 #define PARAMETER_BLOCK_SIZES 2,2
266 TEST_BODY(TwoParameterBlock)
267 #undef PARAMETER_BLOCK_SIZES
268
269 #define PARAMETER_BLOCK_SIZES 2,2,2
270 TEST_BODY(ThreeParameterBlock)
271 #undef PARAMETER_BLOCK_SIZES
272
273 #define PARAMETER_BLOCK_SIZES 2,2,2,2
274 TEST_BODY(FourParameterBlock)
275 #undef PARAMETER_BLOCK_SIZES
276
277 #define PARAMETER_BLOCK_SIZES 2,2,2,2,2
278 TEST_BODY(FiveParameterBlock)
279 #undef PARAMETER_BLOCK_SIZES
280
281 #define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2
282 TEST_BODY(SixParameterBlock)
283 #undef PARAMETER_BLOCK_SIZES
284
285 #define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2
286 TEST_BODY(SevenParameterBlock)
287 #undef PARAMETER_BLOCK_SIZES
288
289 #define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2
290 TEST_BODY(EightParameterBlock)
291 #undef PARAMETER_BLOCK_SIZES
292
293 #define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2
294 TEST_BODY(NineParameterBlock)
295 #undef PARAMETER_BLOCK_SIZES
296
297 #define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2,2
298 TEST_BODY(TenParameterBlock)
299 #undef PARAMETER_BLOCK_SIZES
300
301 #undef TEST_BODY
302
303
304 } // namespace internal
305 } // namespace ceres
306