10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: keir@google.com (Keir Mierle) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "gtest/gtest.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/iteration_callback.h" 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/minimizer.h" 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/solver.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass FakeIterationCallback : public IterationCallback { 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong public: 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual ~FakeIterationCallback() {} 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual CallbackReturnType operator()(const IterationSummary& summary) { 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return SOLVER_CONTINUE; 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 4779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezTEST(Minimizer, InitializationCopiesCallbacks) { 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FakeIterationCallback callback0; 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FakeIterationCallback callback1; 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Solver::Options solver_options; 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong solver_options.callbacks.push_back(&callback0); 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong solver_options.callbacks.push_back(&callback1); 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Minimizer::Options minimizer_options(solver_options); 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ASSERT_EQ(2, minimizer_options.callbacks.size()); 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(minimizer_options.callbacks[0], &callback0); 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(minimizer_options.callbacks[1], &callback1); 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 6279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandezclass AbortingIterationCallback : public IterationCallback { 6379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez public: 6479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez virtual ~AbortingIterationCallback() {} 6579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez virtual CallbackReturnType operator()(const IterationSummary& summary) { 6679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez return SOLVER_ABORT; 6779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 6879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez}; 6979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 7079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezTEST(Minimizer, UserAbortUpdatesSummaryMessage) { 7179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez AbortingIterationCallback callback; 7279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Solver::Options solver_options; 7379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez solver_options.callbacks.push_back(&callback); 7479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Minimizer::Options minimizer_options(solver_options); 7579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Solver::Summary summary; 7679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Minimizer::RunCallbacks(minimizer_options, IterationSummary(), &summary); 7779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(summary.message, "User callback returned SOLVER_ABORT."); 7879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 7979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 8079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandezclass SucceedingIterationCallback : public IterationCallback { 8179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez public: 8279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez virtual ~SucceedingIterationCallback() {} 8379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez virtual CallbackReturnType operator()(const IterationSummary& summary) { 8479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez return SOLVER_TERMINATE_SUCCESSFULLY; 8579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 8679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez}; 8779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 8879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezTEST(Minimizer, UserSuccessUpdatesSummaryMessage) { 8979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez SucceedingIterationCallback callback; 9079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Solver::Options solver_options; 9179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez solver_options.callbacks.push_back(&callback); 9279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Minimizer::Options minimizer_options(solver_options); 9379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Solver::Summary summary; 9479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez Minimizer::RunCallbacks(minimizer_options, IterationSummary(), &summary); 9579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EXPECT_EQ(summary.message, 9679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez "User callback returned SOLVER_TERMINATE_SUCCESSFULLY."); 9779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 9879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 101