1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3// http://code.google.com/p/ceres-solver/
4//
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6// modification, are permitted provided that the following conditions are met:
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16//
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28//
29// Author: keir@google.com (Keir Mierle)
30
31#include "ceres/numeric_diff_cost_function.h"
32
33#include <algorithm>
34#include <cmath>
35#include <string>
36#include <vector>
37#include "ceres/internal/macros.h"
38#include "ceres/internal/scoped_ptr.h"
39#include "ceres/numeric_diff_test_utils.h"
40#include "ceres/test_util.h"
41#include "ceres/types.h"
42#include "glog/logging.h"
43#include "gtest/gtest.h"
44
45namespace ceres {
46namespace internal {
47
48TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferences) {
49  internal::scoped_ptr<CostFunction> cost_function;
50  cost_function.reset(
51      new NumericDiffCostFunction<EasyFunctor,
52                                  CENTRAL,
53                                  3,  /* number of residuals */
54                                  5,  /* size of x1 */
55                                  5   /* size of x2 */>(
56          new EasyFunctor));
57  EasyFunctor functor;
58  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
59}
60
61TEST(NumericDiffCostFunction, EasyCaseFunctorForwardDifferences) {
62  internal::scoped_ptr<CostFunction> cost_function;
63  cost_function.reset(
64      new NumericDiffCostFunction<EasyFunctor,
65                                  FORWARD,
66                                  3,  /* number of residuals */
67                                  5,  /* size of x1 */
68                                  5   /* size of x2 */>(
69          new EasyFunctor));
70  EasyFunctor functor;
71  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
72}
73
74TEST(NumericDiffCostFunction, EasyCaseCostFunctionCentralDifferences) {
75  internal::scoped_ptr<CostFunction> cost_function;
76  cost_function.reset(
77      new NumericDiffCostFunction<EasyCostFunction,
78                                  CENTRAL,
79                                  3,  /* number of residuals */
80                                  5,  /* size of x1 */
81                                  5   /* size of x2 */>(
82          new EasyCostFunction, TAKE_OWNERSHIP));
83  EasyFunctor functor;
84  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
85}
86
87TEST(NumericDiffCostFunction, EasyCaseCostFunctionForwardDifferences) {
88  internal::scoped_ptr<CostFunction> cost_function;
89  cost_function.reset(
90      new NumericDiffCostFunction<EasyCostFunction,
91                                  FORWARD,
92                                  3,  /* number of residuals */
93                                  5,  /* size of x1 */
94                                  5   /* size of x2 */>(
95          new EasyCostFunction, TAKE_OWNERSHIP));
96  EasyFunctor functor;
97  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
98}
99
100TEST(NumericDiffCostFunction, TranscendentalCaseFunctorCentralDifferences) {
101  internal::scoped_ptr<CostFunction> cost_function;
102  cost_function.reset(
103      new NumericDiffCostFunction<TranscendentalFunctor,
104                                  CENTRAL,
105                                  2,  /* number of residuals */
106                                  5,  /* size of x1 */
107                                  5   /* size of x2 */>(
108          new TranscendentalFunctor));
109  TranscendentalFunctor functor;
110  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
111}
112
113TEST(NumericDiffCostFunction, TranscendentalCaseFunctorForwardDifferences) {
114  internal::scoped_ptr<CostFunction> cost_function;
115  cost_function.reset(
116      new NumericDiffCostFunction<TranscendentalFunctor,
117                                  FORWARD,
118                                  2,  /* number of residuals */
119                                  5,  /* size of x1 */
120                                  5   /* size of x2 */>(
121          new TranscendentalFunctor));
122  TranscendentalFunctor functor;
123  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
124}
125
126TEST(NumericDiffCostFunction, TranscendentalCaseCostFunctionCentralDifferences) {
127  internal::scoped_ptr<CostFunction> cost_function;
128  cost_function.reset(
129      new NumericDiffCostFunction<TranscendentalCostFunction,
130                                  CENTRAL,
131                                  2,  /* number of residuals */
132                                  5,  /* size of x1 */
133                                  5   /* size of x2 */>(
134          new TranscendentalCostFunction, TAKE_OWNERSHIP));
135  TranscendentalFunctor functor;
136  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
137}
138
139TEST(NumericDiffCostFunction, TranscendentalCaseCostFunctionForwardDifferences) {
140  internal::scoped_ptr<CostFunction> cost_function;
141  cost_function.reset(
142      new NumericDiffCostFunction<TranscendentalCostFunction,
143                                  FORWARD,
144                                  2,  /* number of residuals */
145                                  5,  /* size of x1 */
146                                  5   /* size of x2 */>(
147          new TranscendentalCostFunction, TAKE_OWNERSHIP));
148  TranscendentalFunctor functor;
149  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
150}
151
152template<int num_rows, int num_cols>
153class SizeTestingCostFunction : public SizedCostFunction<num_rows, num_cols> {
154 public:
155  virtual bool Evaluate(double const* const* parameters,
156                        double* residuals,
157                        double** jacobians) const {
158    return true;
159  }
160};
161
162// As described in
163// http://forum.kde.org/viewtopic.php?f=74&t=98536#p210774
164// Eigen3 has restrictions on the Row/Column major storage of vectors,
165// depending on their dimensions. This test ensures that the correct
166// templates are instantiated for various shapes of the Jacobian
167// matrix.
168TEST(NumericDiffCostFunction, EigenRowMajorColMajorTest) {
169  scoped_ptr<CostFunction> cost_function;
170  cost_function.reset(
171      new NumericDiffCostFunction<SizeTestingCostFunction<1,1>,  CENTRAL, 1, 1>(
172          new SizeTestingCostFunction<1,1>, ceres::TAKE_OWNERSHIP));
173
174  cost_function.reset(
175      new NumericDiffCostFunction<SizeTestingCostFunction<2,1>,  CENTRAL, 2, 1>(
176          new SizeTestingCostFunction<2,1>, ceres::TAKE_OWNERSHIP));
177
178  cost_function.reset(
179      new NumericDiffCostFunction<SizeTestingCostFunction<1,2>,  CENTRAL, 1, 2>(
180          new SizeTestingCostFunction<1,2>, ceres::TAKE_OWNERSHIP));
181
182  cost_function.reset(
183      new NumericDiffCostFunction<SizeTestingCostFunction<2,2>,  CENTRAL, 2, 2>(
184          new SizeTestingCostFunction<2,2>, ceres::TAKE_OWNERSHIP));
185}
186
187TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferencesAndDynamicNumResiduals) {
188  internal::scoped_ptr<CostFunction> cost_function;
189  cost_function.reset(
190      new NumericDiffCostFunction<EasyFunctor,
191                                  CENTRAL,
192                                  ceres::DYNAMIC,
193                                  5,  /* size of x1 */
194                                  5   /* size of x2 */>(
195                                      new EasyFunctor, TAKE_OWNERSHIP, 3));
196  EasyFunctor functor;
197  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
198}
199
200}  // namespace internal
201}  // namespace ceres
202