Add CostFunctionToFunctor.
CostFunctionToFunctor wraps a CostFunction, and makes it available
as a templated functor that can be called from other templated
functors. This is useful for when one wants to mix automatic,
numeric and analytic differentiated functions.
Also a bug fix in autodiff.h
Change-Id: If8ba281a89fda976ef2ce10a5844a74c4ac7b84a
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index 786a3d7..193dd63 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -223,6 +223,7 @@
CERES_TEST(compressed_row_sparse_matrix)
CERES_TEST(conditioned_cost_function)
CERES_TEST(corrector)
+ CERES_TEST(cost_function_to_functor)
CERES_TEST(dense_sparse_matrix)
CERES_TEST(evaluator)
CERES_TEST(gradient_checker)
diff --git a/internal/ceres/cost_function_to_functor_test.cc b/internal/ceres/cost_function_to_functor_test.cc
new file mode 100644
index 0000000..8ee02bd
--- /dev/null
+++ b/internal/ceres/cost_function_to_functor_test.cc
@@ -0,0 +1,263 @@
+#include "ceres/cost_function_to_functor.h"
+#include "ceres/autodiff_cost_function.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const double kTolerance = 1e-18;
+
+void ExpectCostFunctionsAreEqual(const CostFunction& cost_function,
+ const CostFunction& actual_cost_function) {
+ EXPECT_EQ(cost_function.num_residuals(), actual_cost_function.num_residuals());
+ const int num_residuals = cost_function.num_residuals();
+ const vector<int16>& parameter_block_sizes = cost_function.parameter_block_sizes();
+ const vector<int16>& actual_parameter_block_sizes = actual_cost_function.parameter_block_sizes();
+ EXPECT_EQ(parameter_block_sizes.size(), actual_parameter_block_sizes.size());
+
+ int num_parameters = 0;
+ for (int i = 0; i < parameter_block_sizes.size(); ++i) {
+ EXPECT_EQ(parameter_block_sizes[i], actual_parameter_block_sizes[i]);
+ num_parameters += parameter_block_sizes[i];
+ }
+
+ scoped_array<double> parameters(new double[num_parameters]);
+ for (int i = 0; i < num_parameters; ++i) {
+ parameters[i] = static_cast<double>(i) + 1.0;
+ }
+
+ scoped_array<double> residuals(new double[num_residuals]);
+ scoped_array<double> jacobians(new double[num_parameters * num_residuals]);
+
+ scoped_array<double> actual_residuals(new double[num_residuals]);
+ scoped_array<double> actual_jacobians(new double[num_parameters * num_residuals]);
+
+ scoped_array<double*> parameter_blocks(new double*[parameter_block_sizes.size()]);
+ scoped_array<double*> jacobian_blocks(new double*[parameter_block_sizes.size()]);
+ scoped_array<double*> actual_jacobian_blocks(new double*[parameter_block_sizes.size()]);
+
+ num_parameters = 0;
+ for (int i = 0; i < parameter_block_sizes.size(); ++i) {
+ parameter_blocks[i] = parameters.get() + num_parameters;
+ jacobian_blocks[i] = jacobians.get() + num_parameters * num_residuals;
+ actual_jacobian_blocks[i] = actual_jacobians.get() + num_parameters * num_residuals;
+ num_parameters += parameter_block_sizes[i];
+ }
+
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(), residuals.get(), NULL));
+ EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(), actual_residuals.get(), NULL));
+ for (int i = 0; i < num_residuals; ++i) {
+ EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
+ << "residual id: " << i;
+ }
+
+
+ EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
+ residuals.get(),
+ jacobian_blocks.get()));
+ EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
+ actual_residuals.get(),
+ actual_jacobian_blocks.get()));
+ for (int i = 0; i < num_residuals; ++i) {
+ EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
+ << "residual : " << i;
+ }
+
+ for (int i = 0; i < num_residuals * num_parameters; ++i) {
+ EXPECT_NEAR(jacobians[i], actual_jacobians[i], kTolerance)
+ << "jacobian : " << i << " " << jacobians[i] << " " << actual_jacobians[i];
+ }
+};
+
+struct OneParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, T* residuals) const {
+ residuals[0] = x1[0] * x1[0];
+ residuals[1] = x1[1] * x1[1];
+ return true;
+ }
+};
+
+struct TwoParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1];
+ return true;
+ }
+};
+
+struct ThreeParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1];
+ return true;
+ }
+};
+
+struct FourParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1];
+ return true;
+ }
+};
+
+struct FiveParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1];
+ return true;
+ }
+};
+
+struct SixParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1];
+ return true;
+ }
+};
+
+struct SevenParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, const T* x7, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1];
+ return true;
+ }
+};
+
+struct EightParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, const T* x7, const T* x8,
+ T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
+ + x8[0] * x8[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
+ + x8[1] * x8[1];
+ return true;
+ }
+};
+
+struct NineParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, const T* x7, const T* x8,
+ const T* x9, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
+ + x8[0] * x8[0] + x9[0] * x9[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
+ + x8[1] * x8[1] + x9[1] * x9[1];
+ return true;
+ }
+};
+
+struct TenParameterBlockFunctor {
+ public:
+ template <typename T>
+ bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+ const T* x5, const T* x6, const T* x7, const T* x8,
+ const T* x9, const T* x10, T* residuals) const {
+ residuals[0] = x1[0] * x1[0] + x2[0] * x2[0] + x3[0] * x3[0]
+ + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
+ + x8[0] * x8[0] + x9[0] * x9[0] + x10[0] * x10[0];
+ residuals[1] = x1[1] * x1[1] + x2[1] * x2[1] + x3[1] * x3[1]
+ + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
+ + x8[1] * x8[1] + x9[1] * x9[1] + x10[1] * x10[1];
+ return true;
+ }
+};
+
+#define TEST_BODY(NAME) \
+ TEST(CostFunctionToFunctor, NAME){ \
+ scoped_ptr<CostFunction> cost_function( \
+ new AutoDiffCostFunction< \
+ CostFunctionToFunctor<2, PARAMETER_BLOCK_SIZES >, \
+ 2, PARAMETER_BLOCK_SIZES>(new CostFunctionToFunctor< \
+ 2, PARAMETER_BLOCK_SIZES >( \
+ new AutoDiffCostFunction< \
+ NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
+ new NAME##Functor)))); \
+ \
+scoped_ptr<CostFunction> actual_cost_function( \
+ new AutoDiffCostFunction<NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
+ new NAME##Functor)); \
+ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function); \
+}
+
+#define PARAMETER_BLOCK_SIZES 2
+TEST_BODY(OneParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2
+TEST_BODY(TwoParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2
+TEST_BODY(ThreeParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2
+TEST_BODY(FourParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2
+TEST_BODY(FiveParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2
+TEST_BODY(SixParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2
+TEST_BODY(SevenParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2
+TEST_BODY(EightParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2
+TEST_BODY(NineParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2,2
+TEST_BODY(TenParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#undef TEST_BODY
+
+
+} // namespace internal
+} // namespace ceres
