11d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// Ceres Solver - A fast non-linear least squares minimizer 21d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// Copyright 2013 Google Inc. All rights reserved. 31d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// http://code.google.com/p/ceres-solver/ 41d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// 51d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// Redistribution and use in source and binary forms, with or without 61d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// modification, are permitted provided that the following conditions are met: 71d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// 81d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// * Redistributions of source code must retain the above copyright notice, 91d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// this list of conditions and the following disclaimer. 101d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// * Redistributions in binary form must reproduce the above copyright notice, 111d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// this list of conditions and the following disclaimer in the documentation 121d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// and/or other materials provided with the distribution. 131d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// * Neither the name of Google Inc. nor the names of its contributors may be 141d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// used to endorse or promote products derived from this software without 151d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// specific prior written permission. 161d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// 171d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 181d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 191d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 201d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 211d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 221d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 231d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 241d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 251d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 261d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 271d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// POSSIBILITY OF SUCH DAMAGE. 281d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// 291d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// Author: sameeragarwal@google.com (Sameer Agarwal) 301d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 311d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/numeric_diff_functor.h" 321d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 331d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include <algorithm> 341d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include <cmath> 351d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include <string> 361d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include <vector> 371d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/autodiff_cost_function.h" 381d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/internal/scoped_ptr.h" 391d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/numeric_diff_test_utils.h" 401d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/test_util.h" 411d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/types.h" 421d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "glog/logging.h" 431d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "gtest/gtest.h" 441d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 451d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberlingnamespace ceres { 461d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberlingnamespace internal { 471d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 481d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha HaeberlingTEST(NumericDiffCostFunction, EasyCaseCentralDifferences) { 491d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling typedef NumericDiffFunctor<EasyFunctor, CENTRAL, 3, 5, 5> 501d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling NumericDiffEasyFunctor; 511d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 521d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling internal::scoped_ptr<CostFunction> cost_function; 531d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling EasyFunctor functor; 541d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 551d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cost_function.reset( 561d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>( 571d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new NumericDiffEasyFunctor)); 581d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 591d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); 601d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 611d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cost_function.reset( 621d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>( 631d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new NumericDiffEasyFunctor(new EasyFunctor))); 641d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); 651d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} 661d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 671d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha HaeberlingTEST(NumericDiffCostFunction, EasyCaseForwardDifferences) { 681d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling typedef NumericDiffFunctor<EasyFunctor, FORWARD, 3, 5, 5> 691d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling NumericDiffEasyFunctor; 701d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 711d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling internal::scoped_ptr<CostFunction> cost_function; 721d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling EasyFunctor functor; 731d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 741d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cost_function.reset( 751d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>( 761d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new NumericDiffEasyFunctor)); 771d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 781d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); 791d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 801d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cost_function.reset( 811d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>( 821d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new NumericDiffEasyFunctor(new EasyFunctor))); 831d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); 841d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} 851d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 861d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha HaeberlingTEST(NumericDiffCostFunction, TranscendentalCaseCentralDifferences) { 871d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling typedef NumericDiffFunctor<TranscendentalFunctor, CENTRAL, 2, 5, 5> 881d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling NumericDiffTranscendentalFunctor; 891d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 901d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling internal::scoped_ptr<CostFunction> cost_function; 911d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling TranscendentalFunctor functor; 921d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 931d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cost_function.reset( 941d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>( 951d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new NumericDiffTranscendentalFunctor)); 961d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 971d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); 981d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 991d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cost_function.reset( 1001d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>( 1011d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new NumericDiffTranscendentalFunctor(new TranscendentalFunctor))); 1021d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); 1031d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} 1041d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 1051d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha HaeberlingTEST(NumericDiffCostFunction, TranscendentalCaseForwardDifferences) { 1061d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling typedef NumericDiffFunctor<TranscendentalFunctor, FORWARD, 2, 5, 5> 1071d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling NumericDiffTranscendentalFunctor; 1081d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 1091d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling internal::scoped_ptr<CostFunction> cost_function; 1101d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling TranscendentalFunctor functor; 1111d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 1121d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cost_function.reset( 1131d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>( 1141d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new NumericDiffTranscendentalFunctor)); 1151d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 1161d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); 1171d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 1181d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cost_function.reset( 1191d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>( 1201d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new NumericDiffTranscendentalFunctor(new TranscendentalFunctor))); 1211d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); 1221d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} 1231d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 1241d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} // namespace internal 1251d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} // namespace ceres 126