| // 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 | |
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| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | |
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| // 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: keir@google.com (Keir Mierle) | |
| #include "ceres/numeric_diff_cost_function.h" | |
| #include <algorithm> | |
| #include <cmath> | |
| #include <string> | |
| #include <vector> | |
| #include "ceres/internal/macros.h" | |
| #include "ceres/internal/scoped_ptr.h" | |
| #include "ceres/numeric_diff_test_utils.h" | |
| #include "ceres/test_util.h" | |
| #include "ceres/types.h" | |
| #include "glog/logging.h" | |
| #include "gtest/gtest.h" | |
| namespace ceres { | |
| namespace internal { | |
| TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferences) { | |
| internal::scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyFunctor, | |
| CENTRAL, | |
| 3, /* number of residuals */ | |
| 5, /* size of x1 */ | |
| 5 /* size of x2 */>( | |
| new EasyFunctor)); | |
| EasyFunctor functor; | |
| functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); | |
| } | |
| TEST(NumericDiffCostFunction, EasyCaseFunctorForwardDifferences) { | |
| internal::scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyFunctor, | |
| FORWARD, | |
| 3, /* number of residuals */ | |
| 5, /* size of x1 */ | |
| 5 /* size of x2 */>( | |
| new EasyFunctor)); | |
| EasyFunctor functor; | |
| functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); | |
| } | |
| TEST(NumericDiffCostFunction, EasyCaseCostFunctionCentralDifferences) { | |
| internal::scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyCostFunction, | |
| CENTRAL, | |
| 3, /* number of residuals */ | |
| 5, /* size of x1 */ | |
| 5 /* size of x2 */>( | |
| new EasyCostFunction, TAKE_OWNERSHIP)); | |
| EasyFunctor functor; | |
| functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); | |
| } | |
| TEST(NumericDiffCostFunction, EasyCaseCostFunctionForwardDifferences) { | |
| internal::scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyCostFunction, | |
| FORWARD, | |
| 3, /* number of residuals */ | |
| 5, /* size of x1 */ | |
| 5 /* size of x2 */>( | |
| new EasyCostFunction, TAKE_OWNERSHIP)); | |
| EasyFunctor functor; | |
| functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); | |
| } | |
| TEST(NumericDiffCostFunction, TranscendentalCaseFunctorCentralDifferences) { | |
| internal::scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<TranscendentalFunctor, | |
| CENTRAL, | |
| 2, /* number of residuals */ | |
| 5, /* size of x1 */ | |
| 5 /* size of x2 */>( | |
| new TranscendentalFunctor)); | |
| TranscendentalFunctor functor; | |
| functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); | |
| } | |
| TEST(NumericDiffCostFunction, TranscendentalCaseFunctorForwardDifferences) { | |
| internal::scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<TranscendentalFunctor, | |
| FORWARD, | |
| 2, /* number of residuals */ | |
| 5, /* size of x1 */ | |
| 5 /* size of x2 */>( | |
| new TranscendentalFunctor)); | |
| TranscendentalFunctor functor; | |
| functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); | |
| } | |
| TEST(NumericDiffCostFunction, TranscendentalCaseCostFunctionCentralDifferences) { | |
| internal::scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<TranscendentalCostFunction, | |
| CENTRAL, | |
| 2, /* number of residuals */ | |
| 5, /* size of x1 */ | |
| 5 /* size of x2 */>( | |
| new TranscendentalCostFunction, TAKE_OWNERSHIP)); | |
| TranscendentalFunctor functor; | |
| functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); | |
| } | |
| TEST(NumericDiffCostFunction, TranscendentalCaseCostFunctionForwardDifferences) { | |
| internal::scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<TranscendentalCostFunction, | |
| FORWARD, | |
| 2, /* number of residuals */ | |
| 5, /* size of x1 */ | |
| 5 /* size of x2 */>( | |
| new TranscendentalCostFunction, TAKE_OWNERSHIP)); | |
| TranscendentalFunctor functor; | |
| functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); | |
| } | |
| template<int num_rows, int num_cols> | |
| class SizeTestingCostFunction : public SizedCostFunction<num_rows, num_cols> { | |
| public: | |
| virtual bool Evaluate(double const* const* parameters, | |
| double* residuals, | |
| double** jacobians) const { | |
| return true; | |
| } | |
| }; | |
| // As described in | |
| // http://forum.kde.org/viewtopic.php?f=74&t=98536#p210774 | |
| // Eigen3 has restrictions on the Row/Column major storage of vectors, | |
| // depending on their dimensions. This test ensures that the correct | |
| // templates are instantiated for various shapes of the Jacobian | |
| // matrix. | |
| TEST(NumericDiffCostFunction, EigenRowMajorColMajorTest) { | |
| scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<SizeTestingCostFunction<1,1>, CENTRAL, 1, 1>( | |
| new SizeTestingCostFunction<1,1>, ceres::TAKE_OWNERSHIP)); | |
| cost_function.reset( | |
| new NumericDiffCostFunction<SizeTestingCostFunction<2,1>, CENTRAL, 2, 1>( | |
| new SizeTestingCostFunction<2,1>, ceres::TAKE_OWNERSHIP)); | |
| cost_function.reset( | |
| new NumericDiffCostFunction<SizeTestingCostFunction<1,2>, CENTRAL, 1, 2>( | |
| new SizeTestingCostFunction<1,2>, ceres::TAKE_OWNERSHIP)); | |
| cost_function.reset( | |
| new NumericDiffCostFunction<SizeTestingCostFunction<2,2>, CENTRAL, 2, 2>( | |
| new SizeTestingCostFunction<2,2>, ceres::TAKE_OWNERSHIP)); | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>( | |
| new EasyFunctor, TAKE_OWNERSHIP, 1)); | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>( | |
| new EasyFunctor, TAKE_OWNERSHIP, 2)); | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>( | |
| new EasyFunctor, TAKE_OWNERSHIP, 1)); | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>( | |
| new EasyFunctor, TAKE_OWNERSHIP, 2)); | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>( | |
| new EasyFunctor, TAKE_OWNERSHIP, 1)); | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>( | |
| new EasyFunctor, TAKE_OWNERSHIP, 2)); | |
| } | |
| TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferencesAndDynamicNumResiduals) { | |
| internal::scoped_ptr<CostFunction> cost_function; | |
| cost_function.reset( | |
| new NumericDiffCostFunction<EasyFunctor, | |
| CENTRAL, | |
| ceres::DYNAMIC, | |
| 5, /* size of x1 */ | |
| 5 /* size of x2 */>( | |
| new EasyFunctor, TAKE_OWNERSHIP, 3)); | |
| EasyFunctor functor; | |
| functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); | |
| } | |
| } // namespace internal | |
| } // namespace ceres |