residual_block_test.cc revision 0ae28bd5885b5daa526898fcf7c323dc2c3e1963
1f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// Ceres Solver - A fast non-linear least squares minimizer 2f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// http://code.google.com/p/ceres-solver/ 4f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// 5f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// Redistribution and use in source and binary forms, with or without 6f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// modification, are permitted provided that the following conditions are met: 7f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// 8f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// * Redistributions of source code must retain the above copyright notice, 9f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// this list of conditions and the following disclaimer. 10f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// * Redistributions in binary form must reproduce the above copyright notice, 11f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// this list of conditions and the following disclaimer in the documentation 12f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// and/or other materials provided with the distribution. 13f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// * Neither the name of Google Inc. nor the names of its contributors may be 14f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// used to endorse or promote products derived from this software without 15f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// specific prior written permission. 16f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// 17f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// POSSIBILITY OF SUCH DAMAGE. 28f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// 29f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// Author: keir@google.com (Keir Mierle) 30f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 31f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org#include "ceres/residual_block.h" 32f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 33f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org#include "gtest/gtest.h" 34f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org#include "ceres/parameter_block.h" 35f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org#include "ceres/sized_cost_function.h" 36f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org#include "ceres/internal/eigen.h" 37f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org#include "ceres/local_parameterization.h" 38f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 39f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.orgnamespace ceres { 40f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.orgnamespace internal { 41f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 42f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// Trivial cost function that accepts three arguments. 43f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.orgclass TernaryCostFunction: public CostFunction { 44f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org public: 45f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org TernaryCostFunction(int num_residuals, 46f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org int16 parameter_block1_size, 47f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org int16 parameter_block2_size, 48f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org int16 parameter_block3_size) { 49f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org set_num_residuals(num_residuals); 50f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org mutable_parameter_block_sizes()->push_back(parameter_block1_size); 51f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org mutable_parameter_block_sizes()->push_back(parameter_block2_size); 52f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org mutable_parameter_block_sizes()->push_back(parameter_block3_size); 53f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 54f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 55f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org virtual bool Evaluate(double const* const* parameters, 56f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double* residuals, 57f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double** jacobians) const { 58f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org for (int i = 0; i < num_residuals(); ++i) { 59f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residuals[i] = i; 60f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 61f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org if (jacobians) { 62f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org for (int k = 0; k < 3; ++k) { 63f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org if (jacobians[k] != NULL) { 64f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org MatrixRef jacobian(jacobians[k], 65f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org num_residuals(), 66f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org parameter_block_sizes()[k]); 67f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian.setConstant(k); 68f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 69f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 70f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 71f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org return true; 72f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 73f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org}; 74f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 75f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.orgTEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) { 76f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double scratch[64]; 77f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 78f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Prepare the parameter blocks. 79f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double values_x[2]; 80f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org ParameterBlock x(values_x, 2); 81f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 82f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double values_y[3]; 83f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org ParameterBlock y(values_y, 3); 84f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 85f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double values_z[4]; 86f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org ParameterBlock z(values_z, 4); 87f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 88f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org vector<ParameterBlock*> parameters; 89f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org parameters.push_back(&x); 90f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org parameters.push_back(&y); 91f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org parameters.push_back(&z); 92f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 93f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org TernaryCostFunction cost_function(3, 2, 3, 4); 94f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 95f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Create the object under tests. 96f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org ResidualBlock residual_block(&cost_function, NULL, parameters); 97f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 98f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify getters. 99f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(&cost_function, residual_block.cost_function()); 100f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(NULL, residual_block.loss_function()); 101f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]); 102f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]); 103f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]); 104f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(3, residual_block.NumScratchDoublesForEvaluate()); 105f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 106f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify cost-only evaluation. 107f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double cost; 108f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residual_block.Evaluate(&cost, NULL, NULL, scratch); 109f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 110f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 111f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify cost and residual evaluation. 112f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double residuals[3]; 113f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residual_block.Evaluate(&cost, residuals, NULL, scratch); 114f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 115f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.0, residuals[0]); 116f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(1.0, residuals[1]); 117f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(2.0, residuals[2]); 118f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 119f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify cost, residual, and jacobian evaluation. 120f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org cost = 0.0; 121f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org VectorRef(residuals, 3).setConstant(0.0); 122f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 123f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org Matrix jacobian_rx(3, 2); 124f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org Matrix jacobian_ry(3, 3); 125f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org Matrix jacobian_rz(3, 4); 126f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 127f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rx.setConstant(-1.0); 128f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_ry.setConstant(-1.0); 129f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rz.setConstant(-1.0); 130f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 131f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double *jacobian_ptrs[3] = { 132f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rx.data(), 133f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_ry.data(), 134f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rz.data() 135f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org }; 136f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 137f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch); 138f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 139f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.0, residuals[0]); 140f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(1.0, residuals[1]); 141f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(2.0, residuals[2]); 142f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 143f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx; 144f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_TRUE((jacobian_ry.array() == 1.0).all()) << "\n" << jacobian_ry; 145f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz; 146f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 147f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify cost, residual, and partial jacobian evaluation. 148f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org cost = 0.0; 149f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org VectorRef(residuals, 3).setConstant(0.0); 150f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rx.setConstant(-1.0); 151f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_ry.setConstant(-1.0); 152f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rz.setConstant(-1.0); 153f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 154f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y. 155f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 156f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch); 157f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 158f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.0, residuals[0]); 159f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(1.0, residuals[1]); 160f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(2.0, residuals[2]); 161f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 162f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx; 163f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry; 164f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz; 165f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org} 166f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 167f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org// Trivial cost function that accepts three arguments. 168f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.orgclass LocallyParameterizedCostFunction: public SizedCostFunction<3, 2, 3, 4> { 169f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org public: 170f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org virtual bool Evaluate(double const* const* parameters, 171f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double* residuals, 172f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double** jacobians) const { 173f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org for (int i = 0; i < num_residuals(); ++i) { 174f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residuals[i] = i; 175f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 176f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org if (jacobians) { 177f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org for (int k = 0; k < 3; ++k) { 178f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // The jacobians here are full sized, but they are transformed in the 179f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // evaluator into the "local" jacobian. In the tests, the "subset 180f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // constant" parameterization is used, which should pick out columns 181f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // from these jacobians. Put values in the jacobian that make this 182f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // obvious; in particular, make the jacobians like this: 183f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // 184f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // 0 1 2 3 4 ... 185f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // 0 1 2 3 4 ... 186f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // 0 1 2 3 4 ... 187f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // 188f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org if (jacobians[k] != NULL) { 189f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org MatrixRef jacobian(jacobians[k], 190f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org num_residuals(), 191f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org parameter_block_sizes()[k]); 192f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org for (int j = 0; j < k + 2; ++j) { 193f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian.col(j).setConstant(j); 194f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 195f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 196f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 197f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 198f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org return true; 199f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org } 200f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org}; 201f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 202f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.orgTEST(ResidualBlock, EvaluteWithLocalParameterizations) { 203f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double scratch[64]; 204f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 205f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Prepare the parameter blocks. 206f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double values_x[2]; 207f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org ParameterBlock x(values_x, 2); 208f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 209f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double values_y[3]; 210f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org ParameterBlock y(values_y, 3); 211f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 212f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double values_z[4]; 213f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org ParameterBlock z(values_z, 4); 214f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 215f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org vector<ParameterBlock*> parameters; 216f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org parameters.push_back(&x); 217f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org parameters.push_back(&y); 218f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org parameters.push_back(&z); 219f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 220f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Make x have the first component fixed. 221f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org vector<int> x_fixed; 222f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org x_fixed.push_back(0); 223f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org SubsetParameterization x_parameterization(2, x_fixed); 224f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org x.SetParameterization(&x_parameterization); 225f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 226f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Make z have the last and last component fixed. 227f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org vector<int> z_fixed; 228f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org z_fixed.push_back(2); 229f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org SubsetParameterization z_parameterization(4, z_fixed); 230f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org z.SetParameterization(&z_parameterization); 231f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 232f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org LocallyParameterizedCostFunction cost_function; 233f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 234f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Create the object under tests. 235f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org ResidualBlock residual_block(&cost_function, NULL, parameters); 236f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 237f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify getters. 238f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(&cost_function, residual_block.cost_function()); 239f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(NULL, residual_block.loss_function()); 240f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]); 241f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]); 242f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]); 243f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(3*(2 + 4) + 3, residual_block.NumScratchDoublesForEvaluate()); 244f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 245f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify cost-only evaluation. 246f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double cost; 247f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residual_block.Evaluate(&cost, NULL, NULL, scratch); 248f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 249f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 250f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify cost and residual evaluation. 251f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double residuals[3]; 252f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residual_block.Evaluate(&cost, residuals, NULL, scratch); 253f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 254f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.0, residuals[0]); 255f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(1.0, residuals[1]); 256f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(2.0, residuals[2]); 257f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 258f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify cost, residual, and jacobian evaluation. 259f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org cost = 0.0; 260f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org VectorRef(residuals, 3).setConstant(0.0); 261f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 262f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org Matrix jacobian_rx(3, 1); // Since the first element is fixed. 263f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org Matrix jacobian_ry(3, 3); 264f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org Matrix jacobian_rz(3, 3); // Since the third element is fixed. 265f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 266f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rx.setConstant(-1.0); 267f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_ry.setConstant(-1.0); 268f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rz.setConstant(-1.0); 269f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 270f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org double *jacobian_ptrs[3] = { 271f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rx.data(), 272f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_ry.data(), 273f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rz.data() 274f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org }; 275f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 276f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch); 277f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 278f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.0, residuals[0]); 279f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(1.0, residuals[1]); 280f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(2.0, residuals[2]); 281f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 282f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org Matrix expected_jacobian_rx(3, 1); 283f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org expected_jacobian_rx << 1.0, 1.0, 1.0; 284f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 285f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org Matrix expected_jacobian_ry(3, 3); 286f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org expected_jacobian_ry << 0.0, 1.0, 2.0, 287f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 0.0, 1.0, 2.0, 288f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 0.0, 1.0, 2.0; 289f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 290f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org Matrix expected_jacobian_rz(3, 3); 291f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org expected_jacobian_rz << 0.0, 1.0, /* 2.0, */ 3.0, // 3rd parameter constant. 292f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 0.0, 1.0, /* 2.0, */ 3.0, 293f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 0.0, 1.0, /* 2.0, */ 3.0; 294f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 295f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(expected_jacobian_rx, jacobian_rx) 296f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org << "\nExpected:\n" << expected_jacobian_rx 297f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org << "\nActual:\n" << jacobian_rx; 298f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(expected_jacobian_ry, jacobian_ry) 299f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org << "\nExpected:\n" << expected_jacobian_ry 300f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org << "\nActual:\n" << jacobian_ry; 301f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(expected_jacobian_rz, jacobian_rz) 302f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org << "\nExpected:\n " << expected_jacobian_rz 303f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org << "\nActual:\n" << jacobian_rz; 304f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 305f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org // Verify cost, residual, and partial jacobian evaluation. 306f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org cost = 0.0; 307f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org VectorRef(residuals, 3).setConstant(0.0); 308f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rx.setConstant(-1.0); 309f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_ry.setConstant(-1.0); 310f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_rz.setConstant(-1.0); 311f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 312f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y. 313f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 314f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch); 315f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); 316f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(0.0, residuals[0]); 317f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(1.0, residuals[1]); 318f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(2.0, residuals[2]); 319f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 320f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(expected_jacobian_rx, jacobian_rx); 321f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry; 322f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org EXPECT_EQ(expected_jacobian_rz, jacobian_rz); 323f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org} 324f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org 325f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org} // namespace internal 326f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org} // namespace ceres 327f2ba7591b1407a7ee9209f842c50696914dc2dedkbr@chromium.org