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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// Author: keir@google.com (Keir Mierle)
#include "ceres/parameter_block.h"
#include "ceres/internal/eigen.h"
#include "gtest/gtest.h"
namespace ceres {
namespace internal {
TEST(ParameterBlock, SetParameterizationDiesOnSizeMismatch) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(1);
SubsetParameterization subset_wrong_size(4, indices);
EXPECT_DEATH_IF_SUPPORTED(
parameter_block.SetParameterization(&subset_wrong_size), "global");
}
TEST(ParameterBlock, SetParameterizationWithSameExistingParameterization) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(1);
SubsetParameterization subset(3, indices);
parameter_block.SetParameterization(&subset);
parameter_block.SetParameterization(&subset);
}
TEST(ParameterBlock, SetParameterizationAllowsResettingToNull) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(1);
SubsetParameterization subset(3, indices);
parameter_block.SetParameterization(&subset);
EXPECT_EQ(parameter_block.local_parameterization(), &subset);
parameter_block.SetParameterization(nullptr);
EXPECT_EQ(parameter_block.local_parameterization(), nullptr);
}
TEST(ParameterBlock,
SetParameterizationAllowsResettingToDifferentParameterization) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(1);
SubsetParameterization subset(3, indices);
parameter_block.SetParameterization(&subset);
EXPECT_EQ(parameter_block.local_parameterization(), &subset);
SubsetParameterization subset_different(3, indices);
parameter_block.SetParameterization(&subset_different);
EXPECT_EQ(parameter_block.local_parameterization(), &subset_different);
}
TEST(ParameterBlock, SetParameterizationAndNormalOperation) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(1);
SubsetParameterization subset(3, indices);
parameter_block.SetParameterization(&subset);
// Ensure the local parameterization jacobian result is correctly computed.
ConstMatrixRef local_parameterization_jacobian(
parameter_block.LocalParameterizationJacobian(), 3, 2);
ASSERT_EQ(1.0, local_parameterization_jacobian(0, 0));
ASSERT_EQ(0.0, local_parameterization_jacobian(0, 1));
ASSERT_EQ(0.0, local_parameterization_jacobian(1, 0));
ASSERT_EQ(0.0, local_parameterization_jacobian(1, 1));
ASSERT_EQ(0.0, local_parameterization_jacobian(2, 0));
ASSERT_EQ(1.0, local_parameterization_jacobian(2, 1));
// Check that updating works as expected.
double x_plus_delta[3];
double delta[2] = {0.5, 0.3};
parameter_block.Plus(x, delta, x_plus_delta);
ASSERT_EQ(1.5, x_plus_delta[0]);
ASSERT_EQ(2.0, x_plus_delta[1]);
ASSERT_EQ(3.3, x_plus_delta[2]);
}
struct TestParameterization : public LocalParameterization {
public:
virtual ~TestParameterization() {}
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const final {
LOG(FATAL) << "Shouldn't get called.";
return true;
}
bool ComputeJacobian(const double* x, double* jacobian) const final {
jacobian[0] = *x * 2;
return true;
}
int GlobalSize() const final { return 1; }
int LocalSize() const final { return 1; }
};
TEST(ParameterBlock, SetStateUpdatesLocalParameterizationJacobian) {
TestParameterization test_parameterization;
double x[1] = {1.0};
ParameterBlock parameter_block(x, 1, -1, &test_parameterization);
EXPECT_EQ(2.0, *parameter_block.LocalParameterizationJacobian());
x[0] = 5.5;
parameter_block.SetState(x);
EXPECT_EQ(11.0, *parameter_block.LocalParameterizationJacobian());
}
TEST(ParameterBlock, PlusWithNoLocalParameterization) {
double x[2] = {1.0, 2.0};
ParameterBlock parameter_block(x, 2, -1);
double delta[2] = {0.2, 0.3};
double x_plus_delta[2];
parameter_block.Plus(x, delta, x_plus_delta);
EXPECT_EQ(1.2, x_plus_delta[0]);
EXPECT_EQ(2.3, x_plus_delta[1]);
}
// Stops computing the jacobian after the first time.
class BadLocalParameterization : public LocalParameterization {
public:
BadLocalParameterization() : calls_(0) {}
virtual ~BadLocalParameterization() {}
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const final {
*x_plus_delta = *x + *delta;
return true;
}
bool ComputeJacobian(const double* x, double* jacobian) const final {
if (calls_ == 0) {
jacobian[0] = 0;
}
++calls_;
return true;
}
int GlobalSize() const final { return 1; }
int LocalSize() const final { return 1; }
private:
mutable int calls_;
};
TEST(ParameterBlock, DetectBadLocalParameterization) {
double x = 1;
BadLocalParameterization bad_parameterization;
ParameterBlock parameter_block(&x, 1, -1, &bad_parameterization);
double y = 2;
EXPECT_FALSE(parameter_block.SetState(&y));
}
TEST(ParameterBlock, DefaultBounds) {
double x[2];
ParameterBlock parameter_block(x, 2, -1, nullptr);
EXPECT_EQ(parameter_block.UpperBoundForParameter(0),
std::numeric_limits<double>::max());
EXPECT_EQ(parameter_block.UpperBoundForParameter(1),
std::numeric_limits<double>::max());
EXPECT_EQ(parameter_block.LowerBoundForParameter(0),
-std::numeric_limits<double>::max());
EXPECT_EQ(parameter_block.LowerBoundForParameter(1),
-std::numeric_limits<double>::max());
}
TEST(ParameterBlock, SetBounds) {
double x[2];
ParameterBlock parameter_block(x, 2, -1, nullptr);
parameter_block.SetLowerBound(0, 1);
parameter_block.SetUpperBound(1, 1);
EXPECT_EQ(parameter_block.LowerBoundForParameter(0), 1.0);
EXPECT_EQ(parameter_block.LowerBoundForParameter(1),
-std::numeric_limits<double>::max());
EXPECT_EQ(parameter_block.UpperBoundForParameter(0),
std::numeric_limits<double>::max());
EXPECT_EQ(parameter_block.UpperBoundForParameter(1), 1.0);
}
TEST(ParameterBlock, PlusWithBoundsConstraints) {
double x[] = {1.0, 0.0};
double delta[] = {2.0, -10.0};
ParameterBlock parameter_block(x, 2, -1, nullptr);
parameter_block.SetUpperBound(0, 2.0);
parameter_block.SetLowerBound(1, -1.0);
double x_plus_delta[2];
parameter_block.Plus(x, delta, x_plus_delta);
EXPECT_EQ(x_plus_delta[0], 2.0);
EXPECT_EQ(x_plus_delta[1], -1.0);
}
TEST(ParameterBlock, ResetLocalParameterizationToNull) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(1);
SubsetParameterization subset(3, indices);
parameter_block.SetParameterization(&subset);
EXPECT_EQ(parameter_block.local_parameterization(), &subset);
parameter_block.SetParameterization(nullptr);
EXPECT_EQ(parameter_block.local_parameterization(), nullptr);
}
TEST(ParameterBlock, ResetLocalParameterizationToNotNull) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(1);
SubsetParameterization subset(3, indices);
parameter_block.SetParameterization(&subset);
EXPECT_EQ(parameter_block.local_parameterization(), &subset);
SubsetParameterization subset_different(3, indices);
parameter_block.SetParameterization(&subset_different);
EXPECT_EQ(parameter_block.local_parameterization(), &subset_different);
}
TEST(ParameterBlock, SetNullLocalParameterization) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
EXPECT_EQ(parameter_block.local_parameterization(), nullptr);
parameter_block.SetParameterization(nullptr);
EXPECT_EQ(parameter_block.local_parameterization(), nullptr);
}
} // namespace internal
} // namespace ceres