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// Ceres Solver - A fast non-linear least squares minimizer
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// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/cost_function_to_functor.h"
#include <cstdint>
#include <memory>
#include <utility>
#include <vector>
#include "ceres/autodiff_cost_function.h"
#include "ceres/dynamic_autodiff_cost_function.h"
#include "ceres/dynamic_cost_function_to_functor.h"
#include "gtest/gtest.h"
namespace ceres::internal {
const double kTolerance = 1e-18;
static 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 std::vector<int32_t>& parameter_block_sizes =
cost_function.parameter_block_sizes();
const std::vector<int32_t>& 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];
}
std::unique_ptr<double[]> parameters(new double[num_parameters]);
for (int i = 0; i < num_parameters; ++i) {
parameters[i] = static_cast<double>(i) + 1.0;
}
std::unique_ptr<double[]> residuals(new double[num_residuals]);
std::unique_ptr<double[]> jacobians(
new double[num_parameters * num_residuals]);
std::unique_ptr<double[]> actual_residuals(new double[num_residuals]);
std::unique_ptr<double[]> actual_jacobians(
new double[num_parameters * num_residuals]);
std::unique_ptr<double*[]> parameter_blocks(
new double*[parameter_block_sizes.size()]);
std::unique_ptr<double*[]> jacobian_blocks(
new double*[parameter_block_sizes.size()]);
std::unique_ptr<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(), nullptr));
EXPECT_TRUE(actual_cost_function.Evaluate(
parameter_blocks.get(), actual_residuals.get(), nullptr));
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;
}
};
class DynamicTwoParameterBlockFunctor {
public:
template <typename T>
bool operator()(T const* const* parameters, T* residuals) const {
for (int i = 0; i < 2; ++i) {
residuals[0] = parameters[i][0] * parameters[i][0];
residuals[1] = parameters[i][1] * parameters[i][1];
}
return true;
}
};
// Check that AutoDiff(Functor1) == AutoDiff(CostToFunctor(AutoDiff(Functor1)))
#define TEST_BODY(Functor1) \
TEST(CostFunctionToFunctor, Functor1) { \
using CostFunction1 = \
AutoDiffCostFunction<Functor1, 2, PARAMETER_BLOCK_SIZES>; \
using FunctionToFunctor = CostFunctionToFunctor<2, PARAMETER_BLOCK_SIZES>; \
using CostFunction2 = \
AutoDiffCostFunction<FunctionToFunctor, 2, PARAMETER_BLOCK_SIZES>; \
\
std::unique_ptr<CostFunction> cost_function(new CostFunction2( \
new FunctionToFunctor(new CostFunction1(new Functor1)))); \
\
std::unique_ptr<CostFunction> actual_cost_function( \
new CostFunction1(new Functor1)); \
ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function); \
}
#define PARAMETER_BLOCK_SIZES 2
TEST_BODY(OneParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#define PARAMETER_BLOCK_SIZES 2, 2
TEST_BODY(TwoParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#define PARAMETER_BLOCK_SIZES 2, 2, 2
TEST_BODY(ThreeParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#define PARAMETER_BLOCK_SIZES 2, 2, 2, 2
TEST_BODY(FourParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#define PARAMETER_BLOCK_SIZES 2, 2, 2, 2, 2
TEST_BODY(FiveParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#define PARAMETER_BLOCK_SIZES 2, 2, 2, 2, 2, 2
TEST_BODY(SixParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#define PARAMETER_BLOCK_SIZES 2, 2, 2, 2, 2, 2, 2
TEST_BODY(SevenParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#define PARAMETER_BLOCK_SIZES 2, 2, 2, 2, 2, 2, 2, 2
TEST_BODY(EightParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#define PARAMETER_BLOCK_SIZES 2, 2, 2, 2, 2, 2, 2, 2, 2
TEST_BODY(NineParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#define PARAMETER_BLOCK_SIZES 2, 2, 2, 2, 2, 2, 2, 2, 2, 2
TEST_BODY(TenParameterBlockFunctor)
#undef PARAMETER_BLOCK_SIZES
#undef TEST_BODY
TEST(CostFunctionToFunctor, DynamicNumberOfResiduals) {
std::unique_ptr<CostFunction> cost_function(
new AutoDiffCostFunction<CostFunctionToFunctor<ceres::DYNAMIC, 2, 2>,
ceres::DYNAMIC,
2,
2>(
new CostFunctionToFunctor<ceres::DYNAMIC, 2, 2>(
new AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2>(
new TwoParameterBlockFunctor)),
2));
std::unique_ptr<CostFunction> actual_cost_function(
new AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2>(
new TwoParameterBlockFunctor));
ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function);
}
TEST(CostFunctionToFunctor, DynamicCostFunctionToFunctor) {
auto* actual_cost_function(
new DynamicAutoDiffCostFunction<DynamicTwoParameterBlockFunctor>(
new DynamicTwoParameterBlockFunctor));
actual_cost_function->AddParameterBlock(2);
actual_cost_function->AddParameterBlock(2);
actual_cost_function->SetNumResiduals(2);
DynamicAutoDiffCostFunction<DynamicCostFunctionToFunctor> cost_function(
new DynamicCostFunctionToFunctor(actual_cost_function));
cost_function.AddParameterBlock(2);
cost_function.AddParameterBlock(2);
cost_function.SetNumResiduals(2);
ExpectCostFunctionsAreEqual(cost_function, *actual_cost_function);
}
TEST(CostFunctionToFunctor, UniquePtrArgumentForwarding) {
auto cost_function = std::make_unique<
AutoDiffCostFunction<CostFunctionToFunctor<ceres::DYNAMIC, 2, 2>,
ceres::DYNAMIC,
2,
2>>(
std::make_unique<CostFunctionToFunctor<ceres::DYNAMIC, 2, 2>>(
std::make_unique<
AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2>>()),
2);
auto actual_cost_function = std::make_unique<
AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2>>();
ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function);
}
TEST(CostFunctionToFunctor, DynamicCostFunctionToFunctorUniquePtr) {
auto actual_cost_function = std::make_unique<
DynamicAutoDiffCostFunction<DynamicTwoParameterBlockFunctor>>();
actual_cost_function->AddParameterBlock(2);
actual_cost_function->AddParameterBlock(2);
actual_cost_function->SetNumResiduals(2);
// Use deduction guides for a more compact variable definition
DynamicAutoDiffCostFunction cost_function(
std::make_unique<DynamicCostFunctionToFunctor>(
std::move(actual_cost_function)));
cost_function.AddParameterBlock(2);
cost_function.AddParameterBlock(2);
cost_function.SetNumResiduals(2);
ExpectCostFunctionsAreEqual(cost_function,
*cost_function.functor().function());
}
} // namespace ceres::internal