1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2014 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
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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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28 //
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include "gtest/gtest.h"
32 #include "ceres/autodiff_cost_function.h"
33 #include "ceres/linear_solver.h"
34 #include "ceres/ordered_groups.h"
35 #include "ceres/parameter_block.h"
36 #include "ceres/problem_impl.h"
37 #include "ceres/program.h"
38 #include "ceres/residual_block.h"
39 #include "ceres/solver_impl.h"
40 #include "ceres/sized_cost_function.h"
41
42 namespace ceres {
43 namespace internal {
44
45 // The parameters must be in separate blocks so that they can be individually
46 // set constant or not.
47 struct Quadratic4DCostFunction {
operator ()ceres::internal::Quadratic4DCostFunction48 template <typename T> bool operator()(const T* const x,
49 const T* const y,
50 const T* const z,
51 const T* const w,
52 T* residual) const {
53 // A 4-dimension axis-aligned quadratic.
54 residual[0] = T(10.0) - *x +
55 T(20.0) - *y +
56 T(30.0) - *z +
57 T(40.0) - *w;
58 return true;
59 }
60 };
61
TEST(SolverImpl,ConstantParameterBlocksDoNotChangeAndStateInvariantKept)62 TEST(SolverImpl, ConstantParameterBlocksDoNotChangeAndStateInvariantKept) {
63 double x = 50.0;
64 double y = 50.0;
65 double z = 50.0;
66 double w = 50.0;
67 const double original_x = 50.0;
68 const double original_y = 50.0;
69 const double original_z = 50.0;
70 const double original_w = 50.0;
71
72 scoped_ptr<CostFunction> cost_function(
73 new AutoDiffCostFunction<Quadratic4DCostFunction, 1, 1, 1, 1, 1>(
74 new Quadratic4DCostFunction));
75
76 Problem::Options problem_options;
77 problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
78
79 ProblemImpl problem(problem_options);
80 problem.AddResidualBlock(cost_function.get(), NULL, &x, &y, &z, &w);
81 problem.SetParameterBlockConstant(&x);
82 problem.SetParameterBlockConstant(&w);
83
84 Solver::Options options;
85 options.linear_solver_type = DENSE_QR;
86
87 Solver::Summary summary;
88 SolverImpl::Solve(options, &problem, &summary);
89
90 // Verify only the non-constant parameters were mutated.
91 EXPECT_EQ(original_x, x);
92 EXPECT_NE(original_y, y);
93 EXPECT_NE(original_z, z);
94 EXPECT_EQ(original_w, w);
95
96 // Check that the parameter block state pointers are pointing back at the
97 // user state, instead of inside a random temporary vector made by Solve().
98 EXPECT_EQ(&x, problem.program().parameter_blocks()[0]->state());
99 EXPECT_EQ(&y, problem.program().parameter_blocks()[1]->state());
100 EXPECT_EQ(&z, problem.program().parameter_blocks()[2]->state());
101 EXPECT_EQ(&w, problem.program().parameter_blocks()[3]->state());
102
103 EXPECT_TRUE(problem.program().IsValid());
104 }
105
106 } // namespace internal
107 } // namespace ceres
108