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: wjr@google.com (William Rucklidge) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Tests for the conditioned cost function. 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/conditioned_cost_function.h" 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/eigen.h" 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/normal_prior.h" 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/types.h" 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "gtest/gtest.h" 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// The size of the cost functions we build. 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongstatic const int kTestCostFunctionSize = 3; 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// A simple cost function: return ax + b. 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass LinearCostFunction : public CostFunction { 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong public: 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LinearCostFunction(double a, double b) : a_(a), b_(b) { 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong set_num_residuals(1); 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong mutable_parameter_block_sizes()->push_back(1); 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual bool Evaluate(double const* const* parameters, 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* residuals, 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** jacobians) const { 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *residuals = **parameters * a_ + b_; 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians && *jacobians) { 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong **jacobians = a_; 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong private: 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const double a_, b_; 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Tests that ConditionedCostFunction does what it's supposed to. 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(CostFunctionTest, ConditionedCostFunction) { 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double v1[kTestCostFunctionSize], v2[kTestCostFunctionSize], 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jac[kTestCostFunctionSize * kTestCostFunctionSize], 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong result[kTestCostFunctionSize]; 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < kTestCostFunctionSize; i++) { 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong v1[i] = i; 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong v2[i] = i * 10; 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Seed a few garbage values in the Jacobian matrix, to make sure that 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // they're overwritten. 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jac[i * 2] = i * i; 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong result[i] = i * i * i; 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Make a cost function that computes x - v2 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VectorRef v2_vector(v2, kTestCostFunctionSize, 1); 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Matrix identity(kTestCostFunctionSize, kTestCostFunctionSize); 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong identity.setIdentity(); 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong NormalPrior* difference_cost_function = new NormalPrior(identity, v2_vector); 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<CostFunction*> conditioners; 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < kTestCostFunctionSize; i++) { 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong conditioners.push_back(new LinearCostFunction(i + 2, i * 7)); 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ConditionedCostFunction conditioned_cost_function(difference_cost_function, 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong conditioners, 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong TAKE_OWNERSHIP); 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(difference_cost_function->num_residuals(), 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong conditioned_cost_function.num_residuals()); 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(difference_cost_function->parameter_block_sizes(), 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong conditioned_cost_function.parameter_block_sizes()); 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double *parameters[1]; 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters[0] = v1; 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double *jacs[1]; 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacs[0] = jac; 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong conditioned_cost_function.Evaluate(parameters, result, jacs); 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < kTestCostFunctionSize; i++) { 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_DOUBLE_EQ((i + 2) * (v1[i] - v2[i]) + i * 7, result[i]); 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < kTestCostFunctionSize; i++) { 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int j = 0; j < kTestCostFunctionSize; j++) { 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double actual = jac[i * kTestCostFunctionSize + j]; 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (i != j) { 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_DOUBLE_EQ(0, actual); 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } else { 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_DOUBLE_EQ(i + 2, actual); 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 127