cost_function_to_functor_test.cc revision 79397c21138f54fcff6ec067b44b847f1f7e0e98 
1// Ceres Solver - A fast non-linear least squares minimizer
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29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include "ceres/cost_function_to_functor.h"
32#include "ceres/autodiff_cost_function.h"
33#include "gtest/gtest.h"
34
35namespace ceres {
36namespace internal {
37
38const double kTolerance = 1e-18;
39
40void ExpectCostFunctionsAreEqual(const CostFunction& cost_function,
41                                 const CostFunction& actual_cost_function) {
42  EXPECT_EQ(cost_function.num_residuals(),
43            actual_cost_function.num_residuals());
44  const int num_residuals = cost_function.num_residuals();
45  const vector<int32>& parameter_block_sizes =
46      cost_function.parameter_block_sizes();
47  const vector<int32>& actual_parameter_block_sizes =
48      actual_cost_function.parameter_block_sizes();
49  EXPECT_EQ(parameter_block_sizes.size(),
50            actual_parameter_block_sizes.size());
51
52  int num_parameters = 0;
53  for (int i = 0; i < parameter_block_sizes.size(); ++i) {
54    EXPECT_EQ(parameter_block_sizes[i], actual_parameter_block_sizes[i]);
55    num_parameters += parameter_block_sizes[i];
56  }
57
58  scoped_array<double> parameters(new double[num_parameters]);
59  for (int i = 0; i < num_parameters; ++i) {
60    parameters[i] = static_cast<double>(i) + 1.0;
61  }
62
63  scoped_array<double> residuals(new double[num_residuals]);
64  scoped_array<double> jacobians(new double[num_parameters * num_residuals]);
65
66  scoped_array<double> actual_residuals(new double[num_residuals]);
67  scoped_array<double> actual_jacobians
68      (new double[num_parameters * num_residuals]);
69
70  scoped_array<double*> parameter_blocks(
71      new double*[parameter_block_sizes.size()]);
72  scoped_array<double*> jacobian_blocks(
73      new double*[parameter_block_sizes.size()]);
74  scoped_array<double*> actual_jacobian_blocks(
75      new double*[parameter_block_sizes.size()]);
76
77  num_parameters = 0;
78  for (int i = 0; i < parameter_block_sizes.size(); ++i) {
79    parameter_blocks[i] = parameters.get() + num_parameters;
80    jacobian_blocks[i] = jacobians.get() + num_parameters * num_residuals;
81    actual_jacobian_blocks[i] =
82        actual_jacobians.get() + num_parameters * num_residuals;
83    num_parameters += parameter_block_sizes[i];
84  }
85
86  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
87                                     residuals.get(), NULL));
88  EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
89                                            actual_residuals.get(), NULL));
90  for (int i = 0; i < num_residuals; ++i) {
91    EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
92        << "residual id: " << i;
93  }
94
95
96  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
97                                     residuals.get(),
98                                     jacobian_blocks.get()));
99  EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
100                                            actual_residuals.get(),
101                                            actual_jacobian_blocks.get()));
102  for (int i = 0; i < num_residuals; ++i) {
103    EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
104        << "residual : " << i;
105  }
106
107  for (int i = 0; i < num_residuals * num_parameters; ++i) {
108    EXPECT_NEAR(jacobians[i], actual_jacobians[i], kTolerance)
109        << "jacobian : " << i << " "
110        << jacobians[i] << " " << actual_jacobians[i];
111  }
112};
113
114struct OneParameterBlockFunctor {
115 public:
116  template <typename T>
117  bool operator()(const T* x1, T* residuals) const {
118    residuals[0] = x1[0] * x1[0];
119    residuals[1] = x1[1] * x1[1];
120    return true;
121  }
122};
123
124struct TwoParameterBlockFunctor {
125 public:
126  template <typename T>
127  bool operator()(const T* x1, const T* x2, T* residuals) const {
128    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0];
129    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1];
130    return true;
131  }
132};
133
134struct ThreeParameterBlockFunctor {
135 public:
136  template <typename T>
137  bool operator()(const T* x1, const T* x2, const T* x3, T* residuals) const {
138    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0];
139    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1];
140    return true;
141  }
142};
143
144struct FourParameterBlockFunctor {
145 public:
146  template <typename T>
147  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
148                  T* residuals) const {
149    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
150        + x4[0] * x4[0];
151    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
152        + x4[1] * x4[1];
153    return true;
154  }
155};
156
157struct FiveParameterBlockFunctor {
158 public:
159  template <typename T>
160  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
161                  const T* x5, T* residuals) const {
162    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
163        + x4[0] * x4[0] + x5[0] * x5[0];
164    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
165        + x4[1] * x4[1] + x5[1] * x5[1];
166    return true;
167  }
168};
169
170struct SixParameterBlockFunctor {
171 public:
172  template <typename T>
173  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
174                  const T* x5, const T* x6,  T* residuals) const {
175    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
176        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0];
177    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
178        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1];
179    return true;
180  }
181};
182
183struct SevenParameterBlockFunctor {
184 public:
185  template <typename T>
186  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
187                  const T* x5, const T* x6, const T* x7, T* residuals) const {
188    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
189        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0];
190    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
191        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1];
192    return true;
193  }
194};
195
196struct EightParameterBlockFunctor {
197 public:
198  template <typename T>
199  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
200                  const T* x5, const T* x6, const T* x7, const T* x8,
201                  T* residuals) const {
202    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
203        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
204        + x8[0] * x8[0];
205    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
206        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
207        + x8[1] * x8[1];
208    return true;
209  }
210};
211
212struct NineParameterBlockFunctor {
213 public:
214  template <typename T>
215  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
216                  const T* x5, const T* x6, const T* x7, const T* x8,
217                  const T* x9, T* residuals) const {
218    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
219        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
220        + x8[0] * x8[0] + x9[0] * x9[0];
221    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
222        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
223        + x8[1] * x8[1] + x9[1] * x9[1];
224    return true;
225  }
226};
227
228struct TenParameterBlockFunctor {
229 public:
230  template <typename T>
231  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
232                  const T* x5, const T* x6, const T* x7, const T* x8,
233                  const T* x9, const T* x10, T* residuals) const {
234    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
235        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
236        + x8[0] * x8[0] + x9[0] * x9[0] + x10[0] * x10[0];
237    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
238        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
239        + x8[1] * x8[1] + x9[1] * x9[1] + x10[1] * x10[1];
240    return true;
241  }
242};
243
244#define TEST_BODY(NAME)                                                 \
245  TEST(CostFunctionToFunctor, NAME) {                                   \
246    scoped_ptr<CostFunction> cost_function(                             \
247        new AutoDiffCostFunction<                                       \
248            CostFunctionToFunctor<2, PARAMETER_BLOCK_SIZES >,           \
249                2, PARAMETER_BLOCK_SIZES>(new CostFunctionToFunctor<    \
250                    2, PARAMETER_BLOCK_SIZES >(                         \
251                        new AutoDiffCostFunction<                       \
252                            NAME##Functor, 2, PARAMETER_BLOCK_SIZES >(  \
253                  new NAME##Functor))));                                \
254                                                                        \
255scoped_ptr<CostFunction> actual_cost_function(                          \
256    new AutoDiffCostFunction<NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
257        new NAME##Functor));                                            \
258ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function);     \
259}
260
261#define PARAMETER_BLOCK_SIZES 2
262TEST_BODY(OneParameterBlock)
263#undef PARAMETER_BLOCK_SIZES
264
265#define PARAMETER_BLOCK_SIZES 2,2
266TEST_BODY(TwoParameterBlock)
267#undef PARAMETER_BLOCK_SIZES
268
269#define PARAMETER_BLOCK_SIZES 2,2,2
270TEST_BODY(ThreeParameterBlock)
271#undef PARAMETER_BLOCK_SIZES
272
273#define PARAMETER_BLOCK_SIZES 2,2,2,2
274TEST_BODY(FourParameterBlock)
275#undef PARAMETER_BLOCK_SIZES
276
277#define PARAMETER_BLOCK_SIZES 2,2,2,2,2
278TEST_BODY(FiveParameterBlock)
279#undef PARAMETER_BLOCK_SIZES
280
281#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2
282TEST_BODY(SixParameterBlock)
283#undef PARAMETER_BLOCK_SIZES
284
285#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2
286TEST_BODY(SevenParameterBlock)
287#undef PARAMETER_BLOCK_SIZES
288
289#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2
290TEST_BODY(EightParameterBlock)
291#undef PARAMETER_BLOCK_SIZES
292
293#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2
294TEST_BODY(NineParameterBlock)
295#undef PARAMETER_BLOCK_SIZES
296
297#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2,2
298TEST_BODY(TenParameterBlock)
299#undef PARAMETER_BLOCK_SIZES
300
301#undef TEST_BODY
302
303
304}  // namespace internal
305}  // namespace ceres
306