| // 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 |
| // 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 "ceres/residual_block_utils.h" |
| |
| #include <cmath> |
| #include <limits> |
| #include <memory> |
| |
| #include "ceres/cost_function.h" |
| #include "ceres/parameter_block.h" |
| #include "ceres/residual_block.h" |
| #include "ceres/sized_cost_function.h" |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // Routine to check if ResidualBlock::Evaluate for unary CostFunction |
| // with one residual succeeds with true or dies. |
| static void CheckEvaluation(const CostFunction& cost_function, bool is_good) { |
| double x = 1.0; |
| ParameterBlock parameter_block(&x, 1, -1); |
| std::vector<ParameterBlock*> parameter_blocks; |
| parameter_blocks.push_back(¶meter_block); |
| |
| ResidualBlock residual_block(&cost_function, NULL, parameter_blocks, -1); |
| |
| std::unique_ptr<double[]> scratch( |
| new double[residual_block.NumScratchDoublesForEvaluate()]); |
| |
| double cost; |
| double residuals; |
| double jacobian; |
| double* jacobians[] = {&jacobian}; |
| |
| EXPECT_EQ(residual_block.Evaluate( |
| true, &cost, &residuals, jacobians, scratch.get()), |
| is_good); |
| } |
| |
| // A CostFunction that behaves normaly, i.e., it computes numerically |
| // valid residuals and jacobians. |
| class GoodCostFunction : public SizedCostFunction<1, 1> { |
| public: |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const final { |
| residuals[0] = 1; |
| if (jacobians != NULL && jacobians[0] != NULL) { |
| jacobians[0][0] = 0.0; |
| } |
| return true; |
| } |
| }; |
| |
| // The following four CostFunctions simulate the different ways in |
| // which user code can cause ResidualBlock::Evaluate to fail. |
| class NoResidualUpdateCostFunction : public SizedCostFunction<1, 1> { |
| public: |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const final { |
| // Forget to update the residuals. |
| // residuals[0] = 1; |
| if (jacobians != NULL && jacobians[0] != NULL) { |
| jacobians[0][0] = 0.0; |
| } |
| return true; |
| } |
| }; |
| |
| class NoJacobianUpdateCostFunction : public SizedCostFunction<1, 1> { |
| public: |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const final { |
| residuals[0] = 1; |
| if (jacobians != NULL && jacobians[0] != NULL) { |
| // Forget to update the jacobians. |
| // jacobians[0][0] = 0.0; |
| } |
| return true; |
| } |
| }; |
| |
| class BadResidualCostFunction : public SizedCostFunction<1, 1> { |
| public: |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const final { |
| residuals[0] = std::numeric_limits<double>::infinity(); |
| if (jacobians != NULL && jacobians[0] != NULL) { |
| jacobians[0][0] = 0.0; |
| } |
| return true; |
| } |
| }; |
| |
| class BadJacobianCostFunction : public SizedCostFunction<1, 1> { |
| public: |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const final { |
| residuals[0] = 1.0; |
| if (jacobians != NULL && jacobians[0] != NULL) { |
| jacobians[0][0] = std::numeric_limits<double>::quiet_NaN(); |
| } |
| return true; |
| } |
| }; |
| |
| // Note: It is preferable to write the below test as: |
| // |
| // CheckEvaluation(GoodCostFunction(), true); |
| // CheckEvaluation(NoResidualUpdateCostFunction(), false); |
| // CheckEvaluation(NoJacobianUpdateCostFunction(), false); |
| // ... |
| // |
| // however, there is a bug in the version of GCC on Mac OS X we tested, which |
| // requires the objects get put into local variables instead of getting |
| // instantiated on the stack. |
| TEST(ResidualBlockUtils, CheckAllCombinationsOfBadness) { |
| GoodCostFunction good_fun; |
| CheckEvaluation(good_fun, true); |
| NoResidualUpdateCostFunction no_residual; |
| CheckEvaluation(no_residual, false); |
| NoJacobianUpdateCostFunction no_jacobian; |
| CheckEvaluation(no_jacobian, false); |
| BadResidualCostFunction bad_residual; |
| CheckEvaluation(bad_residual, false); |
| BadJacobianCostFunction bad_jacobian; |
| CheckEvaluation(bad_jacobian, false); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |