10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 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 "ceres/residual_block.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "gtest/gtest.h" 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/parameter_block.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/sized_cost_function.h" 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/eigen.h" 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/local_parameterization.h" 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Trivial cost function that accepts three arguments. 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass TernaryCostFunction: public CostFunction { 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong public: 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong TernaryCostFunction(int num_residuals, 4679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int32 parameter_block1_size, 4779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int32 parameter_block2_size, 4879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int32 parameter_block3_size) { 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong set_num_residuals(num_residuals); 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong mutable_parameter_block_sizes()->push_back(parameter_block1_size); 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong mutable_parameter_block_sizes()->push_back(parameter_block2_size); 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong mutable_parameter_block_sizes()->push_back(parameter_block3_size); 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual bool Evaluate(double const* const* parameters, 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* residuals, 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** jacobians) const { 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_residuals(); ++i) { 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residuals[i] = i; 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians) { 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int k = 0; k < 3; ++k) { 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians[k] != NULL) { 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong MatrixRef jacobian(jacobians[k], 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong num_residuals(), 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_block_sizes()[k]); 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian.setConstant(k); 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) { 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double scratch[64]; 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Prepare the parameter blocks. 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double values_x[2]; 801d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ParameterBlock x(values_x, 2, -1); 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double values_y[3]; 831d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ParameterBlock y(values_y, 3, -1); 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double values_z[4]; 861d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ParameterBlock z(values_z, 4, -1); 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<ParameterBlock*> parameters; 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters.push_back(&x); 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters.push_back(&y); 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters.push_back(&z); 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong TernaryCostFunction cost_function(3, 2, 3, 4); 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Create the object under tests. 961d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ResidualBlock residual_block(&cost_function, NULL, parameters, -1); 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify getters. 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(&cost_function, residual_block.cost_function()); 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(NULL, residual_block.loss_function()); 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]); 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]); 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]); 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(3, residual_block.NumScratchDoublesForEvaluate()); 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify cost-only evaluation. 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double cost; 1081d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling residual_block.Evaluate(true, &cost, NULL, NULL, scratch); 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify cost and residual evaluation. 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double residuals[3]; 1131d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling residual_block.Evaluate(true, &cost, residuals, NULL, scratch); 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.0, residuals[0]); 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(1.0, residuals[1]); 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(2.0, residuals[2]); 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify cost, residual, and jacobian evaluation. 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong cost = 0.0; 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VectorRef(residuals, 3).setConstant(0.0); 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix jacobian_rx(3, 2); 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix jacobian_ry(3, 3); 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix jacobian_rz(3, 4); 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rx.setConstant(-1.0); 1280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_ry.setConstant(-1.0); 1290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rz.setConstant(-1.0); 1300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double *jacobian_ptrs[3] = { 1320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rx.data(), 1330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_ry.data(), 1340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rz.data() 1350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong }; 1360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1371d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch); 1380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 1390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.0, residuals[0]); 1400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(1.0, residuals[1]); 1410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(2.0, residuals[2]); 1420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx; 1440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE((jacobian_ry.array() == 1.0).all()) << "\n" << jacobian_ry; 1450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz; 1460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify cost, residual, and partial jacobian evaluation. 1480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong cost = 0.0; 1490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VectorRef(residuals, 3).setConstant(0.0); 1500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rx.setConstant(-1.0); 1510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_ry.setConstant(-1.0); 1520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rz.setConstant(-1.0); 1530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y. 1550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1561d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch); 1570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 1580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.0, residuals[0]); 1590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(1.0, residuals[1]); 1600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(2.0, residuals[2]); 1610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx; 1630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry; 1640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz; 1650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Trivial cost function that accepts three arguments. 1680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass LocallyParameterizedCostFunction: public SizedCostFunction<3, 2, 3, 4> { 1690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong public: 1700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual bool Evaluate(double const* const* parameters, 1710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* residuals, 1720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** jacobians) const { 1730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_residuals(); ++i) { 1740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residuals[i] = i; 1750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians) { 1770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int k = 0; k < 3; ++k) { 1780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The jacobians here are full sized, but they are transformed in the 1790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // evaluator into the "local" jacobian. In the tests, the "subset 1800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // constant" parameterization is used, which should pick out columns 1810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // from these jacobians. Put values in the jacobian that make this 1820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // obvious; in particular, make the jacobians like this: 1830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 1840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 0 1 2 3 4 ... 1850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 0 1 2 3 4 ... 1860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 0 1 2 3 4 ... 1870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // 1880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians[k] != NULL) { 1890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong MatrixRef jacobian(jacobians[k], 1900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong num_residuals(), 1910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_block_sizes()[k]); 1920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int j = 0; j < k + 2; ++j) { 1930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian.col(j).setConstant(j); 1940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 1990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 2000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 2010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(ResidualBlock, EvaluteWithLocalParameterizations) { 2030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double scratch[64]; 2040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Prepare the parameter blocks. 2060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double values_x[2]; 2071d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ParameterBlock x(values_x, 2, -1); 2080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double values_y[3]; 2101d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ParameterBlock y(values_y, 3, -1); 2110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double values_z[4]; 2131d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ParameterBlock z(values_z, 4, -1); 2140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<ParameterBlock*> parameters; 2160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters.push_back(&x); 2170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters.push_back(&y); 2180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters.push_back(&z); 2190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Make x have the first component fixed. 2210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<int> x_fixed; 2220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong x_fixed.push_back(0); 2230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong SubsetParameterization x_parameterization(2, x_fixed); 2240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong x.SetParameterization(&x_parameterization); 2250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Make z have the last and last component fixed. 2270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<int> z_fixed; 2280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong z_fixed.push_back(2); 2290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong SubsetParameterization z_parameterization(4, z_fixed); 2300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong z.SetParameterization(&z_parameterization); 2310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LocallyParameterizedCostFunction cost_function; 2330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Create the object under tests. 2351d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ResidualBlock residual_block(&cost_function, NULL, parameters, -1); 2360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify getters. 2380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(&cost_function, residual_block.cost_function()); 2390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(NULL, residual_block.loss_function()); 2400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]); 2410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]); 2420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]); 2430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(3*(2 + 4) + 3, residual_block.NumScratchDoublesForEvaluate()); 2440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify cost-only evaluation. 2460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double cost; 2471d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling residual_block.Evaluate(true, &cost, NULL, NULL, scratch); 2480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 2490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify cost and residual evaluation. 2510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double residuals[3]; 2521d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling residual_block.Evaluate(true, &cost, residuals, NULL, scratch); 2530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 2540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.0, residuals[0]); 2550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(1.0, residuals[1]); 2560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(2.0, residuals[2]); 2570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify cost, residual, and jacobian evaluation. 2590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong cost = 0.0; 2600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VectorRef(residuals, 3).setConstant(0.0); 2610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix jacobian_rx(3, 1); // Since the first element is fixed. 2630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix jacobian_ry(3, 3); 2640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix jacobian_rz(3, 3); // Since the third element is fixed. 2650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rx.setConstant(-1.0); 2670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_ry.setConstant(-1.0); 2680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rz.setConstant(-1.0); 2690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double *jacobian_ptrs[3] = { 2710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rx.data(), 2720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_ry.data(), 2730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rz.data() 2740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong }; 2750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2761d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch); 2770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 2780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.0, residuals[0]); 2790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(1.0, residuals[1]); 2800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(2.0, residuals[2]); 2810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix expected_jacobian_rx(3, 1); 2830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong expected_jacobian_rx << 1.0, 1.0, 1.0; 2840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix expected_jacobian_ry(3, 3); 2860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong expected_jacobian_ry << 0.0, 1.0, 2.0, 2870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 0.0, 1.0, 2.0, 2880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 0.0, 1.0, 2.0; 2890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix expected_jacobian_rz(3, 3); 2910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong expected_jacobian_rz << 0.0, 1.0, /* 2.0, */ 3.0, // 3rd parameter constant. 2920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 0.0, 1.0, /* 2.0, */ 3.0, 2930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 0.0, 1.0, /* 2.0, */ 3.0; 2940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(expected_jacobian_rx, jacobian_rx) 2960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << "\nExpected:\n" << expected_jacobian_rx 2970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << "\nActual:\n" << jacobian_rx; 2980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(expected_jacobian_ry, jacobian_ry) 2990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << "\nExpected:\n" << expected_jacobian_ry 3000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << "\nActual:\n" << jacobian_ry; 3010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(expected_jacobian_rz, jacobian_rz) 3020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << "\nExpected:\n " << expected_jacobian_rz 3030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << "\nActual:\n" << jacobian_rz; 3040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 3050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Verify cost, residual, and partial jacobian evaluation. 3060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong cost = 0.0; 3070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VectorRef(residuals, 3).setConstant(0.0); 3080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rx.setConstant(-1.0); 3090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_ry.setConstant(-1.0); 3100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_rz.setConstant(-1.0); 3110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 3120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y. 3130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 3141d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch); 3150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 3160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(0.0, residuals[0]); 3170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(1.0, residuals[1]); 3180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(2.0, residuals[2]); 3190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 3200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(expected_jacobian_rx, jacobian_rx); 3210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry; 3220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(expected_jacobian_rz, jacobian_rz); 3230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 3240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 3250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 3260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 327