| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2014 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 "gtest/gtest.h" |
| #include "ceres/autodiff_cost_function.h" |
| #include "ceres/linear_solver.h" |
| #include "ceres/ordered_groups.h" |
| #include "ceres/parameter_block.h" |
| #include "ceres/problem_impl.h" |
| #include "ceres/program.h" |
| #include "ceres/residual_block.h" |
| #include "ceres/solver_impl.h" |
| #include "ceres/sized_cost_function.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // The parameters must be in separate blocks so that they can be individually |
| // set constant or not. |
| struct Quadratic4DCostFunction { |
| template <typename T> bool operator()(const T* const x, |
| const T* const y, |
| const T* const z, |
| const T* const w, |
| T* residual) const { |
| // A 4-dimension axis-aligned quadratic. |
| residual[0] = T(10.0) - *x + |
| T(20.0) - *y + |
| T(30.0) - *z + |
| T(40.0) - *w; |
| return true; |
| } |
| }; |
| |
| TEST(SolverImpl, ConstantParameterBlocksDoNotChangeAndStateInvariantKept) { |
| double x = 50.0; |
| double y = 50.0; |
| double z = 50.0; |
| double w = 50.0; |
| const double original_x = 50.0; |
| const double original_y = 50.0; |
| const double original_z = 50.0; |
| const double original_w = 50.0; |
| |
| scoped_ptr<CostFunction> cost_function( |
| new AutoDiffCostFunction<Quadratic4DCostFunction, 1, 1, 1, 1, 1>( |
| new Quadratic4DCostFunction)); |
| |
| Problem::Options problem_options; |
| problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP; |
| |
| ProblemImpl problem(problem_options); |
| problem.AddResidualBlock(cost_function.get(), NULL, &x, &y, &z, &w); |
| problem.SetParameterBlockConstant(&x); |
| problem.SetParameterBlockConstant(&w); |
| |
| Solver::Options options; |
| options.linear_solver_type = DENSE_QR; |
| |
| Solver::Summary summary; |
| SolverImpl::Solve(options, &problem, &summary); |
| |
| // Verify only the non-constant parameters were mutated. |
| EXPECT_EQ(original_x, x); |
| EXPECT_NE(original_y, y); |
| EXPECT_NE(original_z, z); |
| EXPECT_EQ(original_w, w); |
| |
| // Check that the parameter block state pointers are pointing back at the |
| // user state, instead of inside a random temporary vector made by Solve(). |
| EXPECT_EQ(&x, problem.program().parameter_blocks()[0]->state()); |
| EXPECT_EQ(&y, problem.program().parameter_blocks()[1]->state()); |
| EXPECT_EQ(&z, problem.program().parameter_blocks()[2]->state()); |
| EXPECT_EQ(&w, problem.program().parameter_blocks()[3]->state()); |
| |
| EXPECT_TRUE(problem.program().IsValid()); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |