internal/ceres/corrector_test.cc - ceres-solver - Git at Google

 // Ceres Solver - A fast non-linear least squares minimizer
 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
 //
 // * Redistributions of source code must retain the above copyright notice,
 //   this list of conditions and the following disclaimer.
 // * Redistributions in binary form must reproduce the above copyright notice,
 //   this list of conditions and the following disclaimer in the documentation
 //   and/or other materials provided with the distribution.
 // * Neither the name of Google Inc. nor the names of its contributors may be
 //   used to endorse or promote products derived from this software without
 //   specific prior written permission.
 //
 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 //
 // Author: sameeragarwal@google.com (Sameer Agarwal)

 #include "ceres/corrector.h"

 #include <algorithm>
 #include <cmath>
 #include <cstring>
 #include <cstdlib>
 #include "gtest/gtest.h"
 #include "ceres/random.h"
 #include "ceres/internal/eigen.h"

 namespace ceres {
 namespace internal {

 // If rho[1] is zero, the Corrector constructor should crash.
 TEST(Corrector, ZeroGradientDeathTest) {
   const double kRho[] = {0.0, 0.0, 0.0};
   ASSERT_DEATH({Corrector c(1.0, kRho);},
                ".*");
 }

 // If rho[1] is negative, the Corrector constructor should crash.
 TEST(Corrector, NegativeGradientDeathTest) {
   const double kRho[] = {0.0, -0.1, 0.0};
   ASSERT_DEATH({Corrector c(1.0, kRho);},
                ".*");
 }

 TEST(Corrector, ScalarCorrection) {
   double residuals = sqrt(3.0);
   double jacobian = 10.0;
   double sq_norm = residuals * residuals;

   const double kRho[] = {sq_norm, 0.1, -0.01};

   // In light of the rho'' < 0 clamping now implemented in
   // corrector.cc, alpha = 0 whenever rho'' < 0.
   const double kAlpha = 0.0;

   // Thus the expected value of the residual is
   // residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
   const double kExpectedResidual =
       residuals * sqrt(kRho[1]) / (1 - kAlpha);

   // The jacobian in this case will be
   // sqrt(kRho[1]) * (1 - kAlpha) * jacobian.
   const double kExpectedJacobian = sqrt(kRho[1]) * (1 - kAlpha) * jacobian;

   Corrector c(sq_norm, kRho);
   c.CorrectJacobian(1.0, 1.0, &residuals, &jacobian);
   c.CorrectResiduals(1.0, &residuals);

   ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
   ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
 }

 TEST(Corrector, ScalarCorrectionZeroResidual) {
   double residuals = 0.0;
   double jacobian = 10.0;
   double sq_norm = residuals * residuals;

   const double kRho[] = {0.0, 0.1, -0.01};
   Corrector c(sq_norm, kRho);

   // The alpha equation is
   // 1/2 alpha^2 - alpha + 0.0 = 0.
   // i.e. alpha = 1.0 - sqrt(1.0).
   //      alpha = 0.0.
   // Thus the expected value of the residual is
   // residual[i] * sqrt(kRho[1])
   const double kExpectedResidual = residuals * sqrt(kRho[1]);

   // The jacobian in this case will be
   // sqrt(kRho[1]) * jacobian.
   const double kExpectedJacobian = sqrt(kRho[1]) * jacobian;

   c.CorrectJacobian(1, 1, &residuals, &jacobian);
   c.CorrectResiduals(1, &residuals);

   ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
   ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
 }

 // Scaling behaviour for one dimensional functions.
 TEST(Corrector, ScalarCorrectionAlphaClamped) {
   double residuals = sqrt(3.0);
   double jacobian = 10.0;
   double sq_norm = residuals * residuals;

   const double kRho[] = {3, 0.1, -0.1};

   // rho[2] < 0 -> alpha = 0.0
   const double kAlpha = 0.0;

   // Thus the expected value of the residual is
   // residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
   const double kExpectedResidual =
       residuals * sqrt(kRho[1]) / (1.0 - kAlpha);

   // The jacobian in this case will be scaled by
   // sqrt(rho[1]) * (1 - alpha) * J.
   const double kExpectedJacobian = sqrt(kRho[1]) *
       (1.0 - kAlpha) * jacobian;

   Corrector c(sq_norm, kRho);
   c.CorrectJacobian(1, 1, &residuals, &jacobian);
   c.CorrectResiduals(1, &residuals);

   ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
   ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
 }

 // Test that the corrected multidimensional residual and jacobians
 // match the expected values and the resulting modified normal
 // equations match the robustified gauss newton approximation.
 TEST(Corrector, MultidimensionalGaussNewtonApproximation) {
   double residuals[3];
   double jacobian[2 * 3];
   double rho[3];

   // Eigen matrix references for linear algebra.
   MatrixRef jac(jacobian, 3, 2);
   VectorRef res(residuals, 3);

   // Ground truth values of the modified jacobian and residuals.
   Matrix g_jac(3, 2);
   Vector g_res(3);

   // Ground truth values of the robustified Gauss-Newton
   // approximation.
   Matrix g_hess(2, 2);
   Vector g_grad(2);

   // Corrected hessian and gradient implied by the modified jacobian
   // and hessians.
   Matrix c_hess(2, 2);
   Vector c_grad(2);

   srand(5);
   for (int iter = 0; iter < 10000; ++iter) {
     // Initialize the jacobian and residual.
     for (int i = 0; i < 2 * 3; ++i)
       jacobian[i] = RandDouble();
     for (int i = 0; i < 3; ++i)
       residuals[i] = RandDouble();

     const double sq_norm = res.dot(res);

     rho[0] = sq_norm;
     rho[1] = RandDouble();
     rho[2] = 2.0 * RandDouble() - 1.0;

     // If rho[2] > 0, then the curvature correction to the correction
     // and the gauss newton approximation will match. Otherwise, we
     // will clamp alpha to 0.

     const double kD = 1 + 2 * rho[2] / rho[1] * sq_norm;
     const double kAlpha = (rho[2] > 0.0) ? 1 - sqrt(kD) : 0.0;

     // Ground truth values.
     g_res = sqrt(rho[1]) / (1.0 - kAlpha) * res;
     g_jac = sqrt(rho[1]) * (jac - kAlpha / sq_norm *
                             res * res.transpose() * jac);

     g_grad = rho[1] * jac.transpose() * res;
     g_hess = rho[1] * jac.transpose() * jac +
         2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;

     Corrector c(sq_norm, rho);
     c.CorrectJacobian(3, 2, residuals, jacobian);
     c.CorrectResiduals(3, residuals);

     // Corrected gradient and hessian.
     c_grad  = jac.transpose() * res;
     c_hess = jac.transpose() * jac;

     ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
     ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);

     ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
   }
 }

 TEST(Corrector, MultidimensionalGaussNewtonApproximationZeroResidual) {
   double residuals[3];
   double jacobian[2 * 3];
   double rho[3];

   // Eigen matrix references for linear algebra.
   MatrixRef jac(jacobian, 3, 2);
   VectorRef res(residuals, 3);

   // Ground truth values of the modified jacobian and residuals.
   Matrix g_jac(3, 2);
   Vector g_res(3);

   // Ground truth values of the robustified Gauss-Newton
   // approximation.
   Matrix g_hess(2, 2);
   Vector g_grad(2);

   // Corrected hessian and gradient implied by the modified jacobian
   // and hessians.
   Matrix c_hess(2, 2);
   Vector c_grad(2);

   srand(5);
   for (int iter = 0; iter < 10000; ++iter) {
     // Initialize the jacobian.
     for (int i = 0; i < 2 * 3; ++i)
       jacobian[i] = RandDouble();

     // Zero residuals
     res.setZero();

     const double sq_norm = res.dot(res);

     rho[0] = sq_norm;
     rho[1] = RandDouble();
     rho[2] = 2 * RandDouble() - 1.0;

     // Ground truth values.
     g_res = sqrt(rho[1]) * res;
     g_jac = sqrt(rho[1]) * jac;

     g_grad = rho[1] * jac.transpose() * res;
     g_hess = rho[1] * jac.transpose() * jac +
         2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;

     Corrector c(sq_norm, rho);
     c.CorrectJacobian(3, 2, residuals, jacobian);
     c.CorrectResiduals(3, residuals);

     // Corrected gradient and hessian.
     c_grad = jac.transpose() * res;
     c_hess = jac.transpose() * jac;

     ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
     ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);

     ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
     ASSERT_NEAR((g_hess - c_hess).norm(), 0.0, 1e-10);
   }
 }

 }  // namespace internal
 }  // namespace ceres
	// Ceres Solver - A fast non-linear least squares minimizer
	// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
	// http://code.google.com/p/ceres-solver/
	//
	// Redistribution and use in source and binary forms, with or without
	// modification, are permitted provided that the following conditions are met:
	//
	// * Redistributions of source code must retain the above copyright notice,
	// this list of conditions and the following disclaimer.
	// * Redistributions in binary form must reproduce the above copyright notice,
	// this list of conditions and the following disclaimer in the documentation
	// and/or other materials provided with the distribution.
	// * Neither the name of Google Inc. nor the names of its contributors may be
	// used to endorse or promote products derived from this software without
	// specific prior written permission.
	//
	// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
	// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
	// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
	// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
	// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
	// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
	// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
	// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
	// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
	// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
	// POSSIBILITY OF SUCH DAMAGE.
	//
	// Author: sameeragarwal@google.com (Sameer Agarwal)

	#include "ceres/corrector.h"

	#include <algorithm>
	#include <cmath>
	#include <cstring>
	#include <cstdlib>
	#include "gtest/gtest.h"
	#include "ceres/random.h"
	#include "ceres/internal/eigen.h"

	namespace ceres {
	namespace internal {

	// If rho[1] is zero, the Corrector constructor should crash.
	TEST(Corrector, ZeroGradientDeathTest) {
	const double kRho[] = {0.0, 0.0, 0.0};
	ASSERT_DEATH({Corrector c(1.0, kRho);},
	".*");
	}

	// If rho[1] is negative, the Corrector constructor should crash.
	TEST(Corrector, NegativeGradientDeathTest) {
	const double kRho[] = {0.0, -0.1, 0.0};
	ASSERT_DEATH({Corrector c(1.0, kRho);},
	".*");
	}

	TEST(Corrector, ScalarCorrection) {
	double residuals = sqrt(3.0);
	double jacobian = 10.0;
	double sq_norm = residuals * residuals;

	const double kRho[] = {sq_norm, 0.1, -0.01};

	// In light of the rho'' < 0 clamping now implemented in
	// corrector.cc, alpha = 0 whenever rho'' < 0.
	const double kAlpha = 0.0;

	// Thus the expected value of the residual is
	// residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
	const double kExpectedResidual =
	residuals * sqrt(kRho[1]) / (1 - kAlpha);

	// The jacobian in this case will be
	// sqrt(kRho[1]) * (1 - kAlpha) * jacobian.
	const double kExpectedJacobian = sqrt(kRho[1]) * (1 - kAlpha) * jacobian;

	Corrector c(sq_norm, kRho);
	c.CorrectJacobian(1.0, 1.0, &residuals, &jacobian);
	c.CorrectResiduals(1.0, &residuals);

	ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
	ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
	}

	TEST(Corrector, ScalarCorrectionZeroResidual) {
	double residuals = 0.0;
	double jacobian = 10.0;
	double sq_norm = residuals * residuals;

	const double kRho[] = {0.0, 0.1, -0.01};
	Corrector c(sq_norm, kRho);

	// The alpha equation is
	// 1/2 alpha^2 - alpha + 0.0 = 0.
	// i.e. alpha = 1.0 - sqrt(1.0).
	// alpha = 0.0.
	// Thus the expected value of the residual is
	// residual[i] * sqrt(kRho[1])
	const double kExpectedResidual = residuals * sqrt(kRho[1]);

	// The jacobian in this case will be
	// sqrt(kRho[1]) * jacobian.
	const double kExpectedJacobian = sqrt(kRho[1]) * jacobian;

	c.CorrectJacobian(1, 1, &residuals, &jacobian);
	c.CorrectResiduals(1, &residuals);

	ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
	ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
	}

	// Scaling behaviour for one dimensional functions.
	TEST(Corrector, ScalarCorrectionAlphaClamped) {
	double residuals = sqrt(3.0);
	double jacobian = 10.0;
	double sq_norm = residuals * residuals;

	const double kRho[] = {3, 0.1, -0.1};

	// rho[2] < 0 -> alpha = 0.0
	const double kAlpha = 0.0;

	// Thus the expected value of the residual is
	// residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
	const double kExpectedResidual =
	residuals * sqrt(kRho[1]) / (1.0 - kAlpha);

	// The jacobian in this case will be scaled by
	// sqrt(rho[1]) * (1 - alpha) * J.
	const double kExpectedJacobian = sqrt(kRho[1]) *
	(1.0 - kAlpha) * jacobian;

	Corrector c(sq_norm, kRho);
	c.CorrectJacobian(1, 1, &residuals, &jacobian);
	c.CorrectResiduals(1, &residuals);

	ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
	ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
	}

	// Test that the corrected multidimensional residual and jacobians
	// match the expected values and the resulting modified normal
	// equations match the robustified gauss newton approximation.
	TEST(Corrector, MultidimensionalGaussNewtonApproximation) {
	double residuals[3];
	double jacobian[2 * 3];
	double rho[3];

	// Eigen matrix references for linear algebra.
	MatrixRef jac(jacobian, 3, 2);
	VectorRef res(residuals, 3);

	// Ground truth values of the modified jacobian and residuals.
	Matrix g_jac(3, 2);
	Vector g_res(3);

	// Ground truth values of the robustified Gauss-Newton
	// approximation.
	Matrix g_hess(2, 2);
	Vector g_grad(2);

	// Corrected hessian and gradient implied by the modified jacobian
	// and hessians.
	Matrix c_hess(2, 2);
	Vector c_grad(2);

	srand(5);
	for (int iter = 0; iter < 10000; ++iter) {
	// Initialize the jacobian and residual.
	for (int i = 0; i < 2 * 3; ++i)
	jacobian[i] = RandDouble();
	for (int i = 0; i < 3; ++i)
	residuals[i] = RandDouble();

	const double sq_norm = res.dot(res);

	rho[0] = sq_norm;
	rho[1] = RandDouble();
	rho[2] = 2.0 * RandDouble() - 1.0;

	// If rho[2] > 0, then the curvature correction to the correction
	// and the gauss newton approximation will match. Otherwise, we
	// will clamp alpha to 0.

	const double kD = 1 + 2 * rho[2] / rho[1] * sq_norm;
	const double kAlpha = (rho[2] > 0.0) ? 1 - sqrt(kD) : 0.0;

	// Ground truth values.
	g_res = sqrt(rho[1]) / (1.0 - kAlpha) * res;
	g_jac = sqrt(rho[1]) * (jac - kAlpha / sq_norm *
	res * res.transpose() * jac);

	g_grad = rho[1] * jac.transpose() * res;
	g_hess = rho[1] * jac.transpose() * jac +
	2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;

	Corrector c(sq_norm, rho);
	c.CorrectJacobian(3, 2, residuals, jacobian);
	c.CorrectResiduals(3, residuals);

	// Corrected gradient and hessian.
	c_grad = jac.transpose() * res;
	c_hess = jac.transpose() * jac;

	ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
	ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);

	ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
	}
	}

	TEST(Corrector, MultidimensionalGaussNewtonApproximationZeroResidual) {
	double residuals[3];
	double jacobian[2 * 3];
	double rho[3];

	// Eigen matrix references for linear algebra.
	MatrixRef jac(jacobian, 3, 2);
	VectorRef res(residuals, 3);

	// Ground truth values of the modified jacobian and residuals.
	Matrix g_jac(3, 2);
	Vector g_res(3);

	// Ground truth values of the robustified Gauss-Newton
	// approximation.
	Matrix g_hess(2, 2);
	Vector g_grad(2);

	// Corrected hessian and gradient implied by the modified jacobian
	// and hessians.
	Matrix c_hess(2, 2);
	Vector c_grad(2);

	srand(5);
	for (int iter = 0; iter < 10000; ++iter) {
	// Initialize the jacobian.
	for (int i = 0; i < 2 * 3; ++i)
	jacobian[i] = RandDouble();

	// Zero residuals
	res.setZero();

	const double sq_norm = res.dot(res);

	rho[0] = sq_norm;
	rho[1] = RandDouble();
	rho[2] = 2 * RandDouble() - 1.0;

	// Ground truth values.
	g_res = sqrt(rho[1]) * res;
	g_jac = sqrt(rho[1]) * jac;

	g_grad = rho[1] * jac.transpose() * res;
	g_hess = rho[1] * jac.transpose() * jac +
	2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;

	Corrector c(sq_norm, rho);
	c.CorrectJacobian(3, 2, residuals, jacobian);
	c.CorrectResiduals(3, residuals);

	// Corrected gradient and hessian.
	c_grad = jac.transpose() * res;
	c_hess = jac.transpose() * jac;

	ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
	ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);

	ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
	ASSERT_NEAR((g_hess - c_hess).norm(), 0.0, 1e-10);
	}
	}

	} // namespace internal
	} // namespace ceres