| |
| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2017 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: mierle@gmail.com (Keir Mierle) |
| |
| #include "ceres/tiny_solver.h" |
| |
| #include <algorithm> |
| #include <cmath> |
| |
| #include "ceres/tiny_solver_test_util.h" |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| |
| typedef Eigen::Matrix<double, 2, 1> Vec2; |
| typedef Eigen::Matrix<double, 3, 1> Vec3; |
| typedef Eigen::VectorXd VecX; |
| |
| class ExampleStatic { |
| public: |
| typedef double Scalar; |
| enum { |
| // Can also be Eigen::Dynamic. |
| NUM_RESIDUALS = 2, |
| NUM_PARAMETERS = 3, |
| }; |
| bool operator()(const double* parameters, |
| double* residuals, |
| double* jacobian) const { |
| return EvaluateResidualsAndJacobians(parameters, residuals, jacobian); |
| } |
| }; |
| |
| class ExampleParametersDynamic { |
| public: |
| typedef double Scalar; |
| enum { |
| NUM_RESIDUALS = 2, |
| NUM_PARAMETERS = Eigen::Dynamic, |
| }; |
| |
| int NumParameters() const { return 3; } |
| |
| bool operator()(const double* parameters, |
| double* residuals, |
| double* jacobian) const { |
| return EvaluateResidualsAndJacobians(parameters, residuals, jacobian); |
| } |
| }; |
| |
| class ExampleResidualsDynamic { |
| public: |
| typedef double Scalar; |
| enum { |
| NUM_RESIDUALS = Eigen::Dynamic, |
| NUM_PARAMETERS = 3, |
| }; |
| |
| int NumResiduals() const { return 2; } |
| |
| bool operator()(const double* parameters, |
| double* residuals, |
| double* jacobian) const { |
| return EvaluateResidualsAndJacobians(parameters, residuals, jacobian); |
| } |
| }; |
| |
| class ExampleAllDynamic { |
| public: |
| typedef double Scalar; |
| enum { |
| NUM_RESIDUALS = Eigen::Dynamic, |
| NUM_PARAMETERS = Eigen::Dynamic, |
| }; |
| |
| int NumResiduals() const { return 2; } |
| |
| int NumParameters() const { return 3; } |
| |
| bool operator()(const double* parameters, |
| double* residuals, |
| double* jacobian) const { |
| return EvaluateResidualsAndJacobians(parameters, residuals, jacobian); |
| } |
| }; |
| |
| template <typename Function, typename Vector> |
| void TestHelper(const Function& f, const Vector& x0) { |
| Vector x = x0; |
| Vec2 residuals; |
| f(x.data(), residuals.data(), NULL); |
| EXPECT_GT(residuals.squaredNorm() / 2.0, 1e-10); |
| |
| TinySolver<Function> solver; |
| solver.Solve(f, &x); |
| EXPECT_NEAR(0.0, solver.summary.final_cost, 1e-10); |
| } |
| |
| // A test case for when the cost function is statically sized. |
| TEST(TinySolver, SimpleExample) { |
| Vec3 x0(0.76026643, -30.01799744, 0.55192142); |
| ExampleStatic f; |
| |
| TestHelper(f, x0); |
| } |
| |
| // A test case for when the number of parameters is dynamically sized. |
| TEST(TinySolver, ParametersDynamic) { |
| VecX x0(3); |
| x0 << 0.76026643, -30.01799744, 0.55192142; |
| |
| ExampleParametersDynamic f; |
| |
| TestHelper(f, x0); |
| } |
| |
| // A test case for when the number of residuals is dynamically sized. |
| TEST(TinySolver, ResidualsDynamic) { |
| Vec3 x0(0.76026643, -30.01799744, 0.55192142); |
| |
| ExampleResidualsDynamic f; |
| |
| TestHelper(f, x0); |
| } |
| |
| // A test case for when the number of parameters and residuals is |
| // dynamically sized. |
| TEST(TinySolver, ParametersAndResidualsDynamic) { |
| VecX x0(3); |
| x0 << 0.76026643, -30.01799744, 0.55192142; |
| |
| ExampleAllDynamic f; |
| |
| TestHelper(f, x0); |
| } |
| |
| } // namespace ceres |