Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 1 | // Ceres Solver - A fast non-linear least squares minimizer |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 2 | // Copyright 2013 Google Inc. All rights reserved. |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 3 | // http://code.google.com/p/ceres-solver/ |
| 4 | // |
| 5 | // Redistribution and use in source and binary forms, with or without |
| 6 | // modification, are permitted provided that the following conditions are met: |
| 7 | // |
| 8 | // * Redistributions of source code must retain the above copyright notice, |
| 9 | // this list of conditions and the following disclaimer. |
| 10 | // * Redistributions in binary form must reproduce the above copyright notice, |
| 11 | // this list of conditions and the following disclaimer in the documentation |
| 12 | // and/or other materials provided with the distribution. |
| 13 | // * Neither the name of Google Inc. nor the names of its contributors may be |
| 14 | // used to endorse or promote products derived from this software without |
| 15 | // specific prior written permission. |
| 16 | // |
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 18 | // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 19 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 20 | // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 21 | // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 22 | // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 23 | // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 24 | // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 25 | // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 26 | // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 27 | // POSSIBILITY OF SUCH DAMAGE. |
| 28 | // |
| 29 | // Author: sameeragarwal@google.com (Sameer Agarwal) |
| 30 | // keir@google.com (Keir Mierle) |
| 31 | |
| 32 | #include "ceres/problem.h" |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 33 | #include "ceres/problem_impl.h" |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 34 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 35 | #include "ceres/casts.h" |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 36 | #include "ceres/cost_function.h" |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 37 | #include "ceres/crs_matrix.h" |
| 38 | #include "ceres/evaluator_test_utils.cc" |
| 39 | #include "ceres/internal/eigen.h" |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 40 | #include "ceres/internal/scoped_ptr.h" |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 41 | #include "ceres/local_parameterization.h" |
| 42 | #include "ceres/map_util.h" |
| 43 | #include "ceres/parameter_block.h" |
| 44 | #include "ceres/program.h" |
| 45 | #include "ceres/sized_cost_function.h" |
| 46 | #include "ceres/sparse_matrix.h" |
| 47 | #include "ceres/types.h" |
| 48 | #include "gtest/gtest.h" |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 49 | |
| 50 | namespace ceres { |
| 51 | namespace internal { |
| 52 | |
| 53 | // The following three classes are for the purposes of defining |
| 54 | // function signatures. They have dummy Evaluate functions. |
| 55 | |
| 56 | // Trivial cost function that accepts a single argument. |
| 57 | class UnaryCostFunction : public CostFunction { |
| 58 | public: |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 59 | UnaryCostFunction(int num_residuals, int32 parameter_block_size) { |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 60 | set_num_residuals(num_residuals); |
| 61 | mutable_parameter_block_sizes()->push_back(parameter_block_size); |
| 62 | } |
| 63 | virtual ~UnaryCostFunction() {} |
| 64 | |
| 65 | virtual bool Evaluate(double const* const* parameters, |
| 66 | double* residuals, |
| 67 | double** jacobians) const { |
| 68 | for (int i = 0; i < num_residuals(); ++i) { |
| 69 | residuals[i] = 1; |
| 70 | } |
| 71 | return true; |
| 72 | } |
| 73 | }; |
| 74 | |
| 75 | // Trivial cost function that accepts two arguments. |
| 76 | class BinaryCostFunction: public CostFunction { |
| 77 | public: |
| 78 | BinaryCostFunction(int num_residuals, |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 79 | int32 parameter_block1_size, |
| 80 | int32 parameter_block2_size) { |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 81 | set_num_residuals(num_residuals); |
| 82 | mutable_parameter_block_sizes()->push_back(parameter_block1_size); |
| 83 | mutable_parameter_block_sizes()->push_back(parameter_block2_size); |
| 84 | } |
| 85 | |
| 86 | virtual bool Evaluate(double const* const* parameters, |
| 87 | double* residuals, |
| 88 | double** jacobians) const { |
| 89 | for (int i = 0; i < num_residuals(); ++i) { |
| 90 | residuals[i] = 2; |
| 91 | } |
| 92 | return true; |
| 93 | } |
| 94 | }; |
| 95 | |
| 96 | // Trivial cost function that accepts three arguments. |
| 97 | class TernaryCostFunction: public CostFunction { |
| 98 | public: |
| 99 | TernaryCostFunction(int num_residuals, |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 100 | int32 parameter_block1_size, |
| 101 | int32 parameter_block2_size, |
| 102 | int32 parameter_block3_size) { |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 103 | set_num_residuals(num_residuals); |
| 104 | mutable_parameter_block_sizes()->push_back(parameter_block1_size); |
| 105 | mutable_parameter_block_sizes()->push_back(parameter_block2_size); |
| 106 | mutable_parameter_block_sizes()->push_back(parameter_block3_size); |
| 107 | } |
| 108 | |
| 109 | virtual bool Evaluate(double const* const* parameters, |
| 110 | double* residuals, |
| 111 | double** jacobians) const { |
| 112 | for (int i = 0; i < num_residuals(); ++i) { |
| 113 | residuals[i] = 3; |
| 114 | } |
| 115 | return true; |
| 116 | } |
| 117 | }; |
| 118 | |
| 119 | TEST(Problem, AddResidualWithNullCostFunctionDies) { |
| 120 | double x[3], y[4], z[5]; |
| 121 | |
| 122 | Problem problem; |
| 123 | problem.AddParameterBlock(x, 3); |
| 124 | problem.AddParameterBlock(y, 4); |
| 125 | problem.AddParameterBlock(z, 5); |
| 126 | |
| 127 | EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(NULL, NULL, x), |
| 128 | "'cost_function' Must be non NULL"); |
| 129 | } |
| 130 | |
| 131 | TEST(Problem, AddResidualWithIncorrectNumberOfParameterBlocksDies) { |
| 132 | double x[3], y[4], z[5]; |
| 133 | |
| 134 | Problem problem; |
| 135 | problem.AddParameterBlock(x, 3); |
| 136 | problem.AddParameterBlock(y, 4); |
| 137 | problem.AddParameterBlock(z, 5); |
| 138 | |
| 139 | // UnaryCostFunction takes only one parameter, but two are passed. |
| 140 | EXPECT_DEATH_IF_SUPPORTED( |
| 141 | problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x, y), |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 142 | "parameter_blocks.size"); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 143 | } |
| 144 | |
| 145 | TEST(Problem, AddResidualWithDifferentSizesOnTheSameVariableDies) { |
| 146 | double x[3]; |
| 147 | |
| 148 | Problem problem; |
| 149 | problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x); |
| 150 | EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock( |
| 151 | new UnaryCostFunction( |
| 152 | 2, 4 /* 4 != 3 */), NULL, x), |
| 153 | "different block sizes"); |
| 154 | } |
| 155 | |
| 156 | TEST(Problem, AddResidualWithDuplicateParametersDies) { |
| 157 | double x[3], z[5]; |
| 158 | |
| 159 | Problem problem; |
| 160 | EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock( |
| 161 | new BinaryCostFunction(2, 3, 3), NULL, x, x), |
| 162 | "Duplicate parameter blocks"); |
| 163 | EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock( |
| 164 | new TernaryCostFunction(1, 5, 3, 5), |
| 165 | NULL, z, x, z), |
| 166 | "Duplicate parameter blocks"); |
| 167 | } |
| 168 | |
| 169 | TEST(Problem, AddResidualWithIncorrectSizesOfParameterBlockDies) { |
| 170 | double x[3], y[4], z[5]; |
| 171 | |
| 172 | Problem problem; |
| 173 | problem.AddParameterBlock(x, 3); |
| 174 | problem.AddParameterBlock(y, 4); |
| 175 | problem.AddParameterBlock(z, 5); |
| 176 | |
| 177 | // The cost function expects the size of the second parameter, z, to be 4 |
| 178 | // instead of 5 as declared above. This is fatal. |
| 179 | EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock( |
| 180 | new BinaryCostFunction(2, 3, 4), NULL, x, z), |
| 181 | "different block sizes"); |
| 182 | } |
| 183 | |
| 184 | TEST(Problem, AddResidualAddsDuplicatedParametersOnlyOnce) { |
| 185 | double x[3], y[4], z[5]; |
| 186 | |
| 187 | Problem problem; |
| 188 | problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x); |
| 189 | problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x); |
| 190 | problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y); |
| 191 | problem.AddResidualBlock(new UnaryCostFunction(2, 5), NULL, z); |
| 192 | |
| 193 | EXPECT_EQ(3, problem.NumParameterBlocks()); |
| 194 | EXPECT_EQ(12, problem.NumParameters()); |
| 195 | } |
| 196 | |
| 197 | TEST(Problem, AddParameterWithDifferentSizesOnTheSameVariableDies) { |
| 198 | double x[3], y[4]; |
| 199 | |
| 200 | Problem problem; |
| 201 | problem.AddParameterBlock(x, 3); |
| 202 | problem.AddParameterBlock(y, 4); |
| 203 | |
| 204 | EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(x, 4), |
| 205 | "different block sizes"); |
| 206 | } |
| 207 | |
| 208 | static double *IntToPtr(int i) { |
| 209 | return reinterpret_cast<double*>(sizeof(double) * i); // NOLINT |
| 210 | } |
| 211 | |
| 212 | TEST(Problem, AddParameterWithAliasedParametersDies) { |
| 213 | // Layout is |
| 214 | // |
| 215 | // 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 |
| 216 | // [x] x x x x [y] y y |
| 217 | // o==o==o o==o==o o==o |
| 218 | // o--o--o o--o--o o--o o--o--o |
| 219 | // |
| 220 | // Parameter block additions are tested as listed above; expected successful |
| 221 | // ones marked with o==o and aliasing ones marked with o--o. |
| 222 | |
| 223 | Problem problem; |
| 224 | problem.AddParameterBlock(IntToPtr(5), 5); // x |
| 225 | problem.AddParameterBlock(IntToPtr(13), 3); // y |
| 226 | |
| 227 | EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 2), |
| 228 | "Aliasing detected"); |
| 229 | EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 3), |
| 230 | "Aliasing detected"); |
| 231 | EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 9), |
| 232 | "Aliasing detected"); |
| 233 | EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 8), 3), |
| 234 | "Aliasing detected"); |
| 235 | EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(12), 2), |
| 236 | "Aliasing detected"); |
| 237 | EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(14), 3), |
| 238 | "Aliasing detected"); |
| 239 | |
| 240 | // These ones should work. |
| 241 | problem.AddParameterBlock(IntToPtr( 2), 3); |
| 242 | problem.AddParameterBlock(IntToPtr(10), 3); |
| 243 | problem.AddParameterBlock(IntToPtr(16), 2); |
| 244 | |
| 245 | ASSERT_EQ(5, problem.NumParameterBlocks()); |
| 246 | } |
| 247 | |
| 248 | TEST(Problem, AddParameterIgnoresDuplicateCalls) { |
| 249 | double x[3], y[4]; |
| 250 | |
| 251 | Problem problem; |
| 252 | problem.AddParameterBlock(x, 3); |
| 253 | problem.AddParameterBlock(y, 4); |
| 254 | |
| 255 | // Creating parameter blocks multiple times is ignored. |
| 256 | problem.AddParameterBlock(x, 3); |
| 257 | problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x); |
| 258 | |
| 259 | // ... even repeatedly. |
| 260 | problem.AddParameterBlock(x, 3); |
| 261 | problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x); |
| 262 | |
| 263 | // More parameters are fine. |
| 264 | problem.AddParameterBlock(y, 4); |
| 265 | problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y); |
| 266 | |
| 267 | EXPECT_EQ(2, problem.NumParameterBlocks()); |
| 268 | EXPECT_EQ(7, problem.NumParameters()); |
| 269 | } |
| 270 | |
| 271 | TEST(Problem, AddingParametersAndResidualsResultsInExpectedProblem) { |
| 272 | double x[3], y[4], z[5], w[4]; |
| 273 | |
| 274 | Problem problem; |
| 275 | problem.AddParameterBlock(x, 3); |
| 276 | EXPECT_EQ(1, problem.NumParameterBlocks()); |
| 277 | EXPECT_EQ(3, problem.NumParameters()); |
| 278 | |
| 279 | problem.AddParameterBlock(y, 4); |
| 280 | EXPECT_EQ(2, problem.NumParameterBlocks()); |
| 281 | EXPECT_EQ(7, problem.NumParameters()); |
| 282 | |
| 283 | problem.AddParameterBlock(z, 5); |
| 284 | EXPECT_EQ(3, problem.NumParameterBlocks()); |
| 285 | EXPECT_EQ(12, problem.NumParameters()); |
| 286 | |
| 287 | // Add a parameter that has a local parameterization. |
| 288 | w[0] = 1.0; w[1] = 0.0; w[2] = 0.0; w[3] = 0.0; |
| 289 | problem.AddParameterBlock(w, 4, new QuaternionParameterization); |
| 290 | EXPECT_EQ(4, problem.NumParameterBlocks()); |
| 291 | EXPECT_EQ(16, problem.NumParameters()); |
| 292 | |
| 293 | problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x); |
| 294 | problem.AddResidualBlock(new BinaryCostFunction(6, 5, 4) , NULL, z, y); |
| 295 | problem.AddResidualBlock(new BinaryCostFunction(3, 3, 5), NULL, x, z); |
| 296 | problem.AddResidualBlock(new BinaryCostFunction(7, 5, 3), NULL, z, x); |
| 297 | problem.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4), NULL, z, x, y); |
| 298 | |
| 299 | const int total_residuals = 2 + 6 + 3 + 7 + 1; |
| 300 | EXPECT_EQ(problem.NumResidualBlocks(), 5); |
| 301 | EXPECT_EQ(problem.NumResiduals(), total_residuals); |
| 302 | } |
| 303 | |
| 304 | class DestructorCountingCostFunction : public SizedCostFunction<3, 4, 5> { |
| 305 | public: |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 306 | explicit DestructorCountingCostFunction(int *num_destructions) |
| 307 | : num_destructions_(num_destructions) {} |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 308 | |
| 309 | virtual ~DestructorCountingCostFunction() { |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 310 | *num_destructions_ += 1; |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 311 | } |
| 312 | |
| 313 | virtual bool Evaluate(double const* const* parameters, |
| 314 | double* residuals, |
| 315 | double** jacobians) const { |
| 316 | return true; |
| 317 | } |
| 318 | |
| 319 | private: |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 320 | int* num_destructions_; |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 321 | }; |
| 322 | |
| 323 | TEST(Problem, ReusedCostFunctionsAreOnlyDeletedOnce) { |
| 324 | double y[4], z[5]; |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 325 | int num_destructions = 0; |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 326 | |
| 327 | // Add a cost function multiple times and check to make sure that |
| 328 | // the destructor on the cost function is only called once. |
| 329 | { |
| 330 | Problem problem; |
| 331 | problem.AddParameterBlock(y, 4); |
| 332 | problem.AddParameterBlock(z, 5); |
| 333 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 334 | CostFunction* cost = new DestructorCountingCostFunction(&num_destructions); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 335 | problem.AddResidualBlock(cost, NULL, y, z); |
| 336 | problem.AddResidualBlock(cost, NULL, y, z); |
| 337 | problem.AddResidualBlock(cost, NULL, y, z); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 338 | EXPECT_EQ(3, problem.NumResidualBlocks()); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 339 | } |
| 340 | |
| 341 | // Check that the destructor was called only once. |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 342 | CHECK_EQ(num_destructions, 1); |
| 343 | } |
| 344 | |
| 345 | TEST(Problem, CostFunctionsAreDeletedEvenWithRemovals) { |
| 346 | double y[4], z[5], w[4]; |
| 347 | int num_destructions = 0; |
| 348 | { |
| 349 | Problem problem; |
| 350 | problem.AddParameterBlock(y, 4); |
| 351 | problem.AddParameterBlock(z, 5); |
| 352 | |
| 353 | CostFunction* cost_yz = |
| 354 | new DestructorCountingCostFunction(&num_destructions); |
| 355 | CostFunction* cost_wz = |
| 356 | new DestructorCountingCostFunction(&num_destructions); |
| 357 | ResidualBlock* r_yz = problem.AddResidualBlock(cost_yz, NULL, y, z); |
| 358 | ResidualBlock* r_wz = problem.AddResidualBlock(cost_wz, NULL, w, z); |
| 359 | EXPECT_EQ(2, problem.NumResidualBlocks()); |
| 360 | |
| 361 | // In the current implementation, the destructor shouldn't get run yet. |
| 362 | problem.RemoveResidualBlock(r_yz); |
| 363 | CHECK_EQ(num_destructions, 0); |
| 364 | problem.RemoveResidualBlock(r_wz); |
| 365 | CHECK_EQ(num_destructions, 0); |
| 366 | |
| 367 | EXPECT_EQ(0, problem.NumResidualBlocks()); |
| 368 | } |
| 369 | CHECK_EQ(num_destructions, 2); |
| 370 | } |
| 371 | |
| 372 | // Make the dynamic problem tests (e.g. for removing residual blocks) |
| 373 | // parameterized on whether the low-latency mode is enabled or not. |
| 374 | // |
| 375 | // This tests against ProblemImpl instead of Problem in order to inspect the |
| 376 | // state of the resulting Program; this is difficult with only the thin Problem |
| 377 | // interface. |
| 378 | struct DynamicProblem : public ::testing::TestWithParam<bool> { |
| 379 | DynamicProblem() { |
| 380 | Problem::Options options; |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 381 | options.enable_fast_removal = GetParam(); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 382 | problem.reset(new ProblemImpl(options)); |
| 383 | } |
| 384 | |
| 385 | ParameterBlock* GetParameterBlock(int block) { |
| 386 | return problem->program().parameter_blocks()[block]; |
| 387 | } |
| 388 | ResidualBlock* GetResidualBlock(int block) { |
| 389 | return problem->program().residual_blocks()[block]; |
| 390 | } |
| 391 | |
| 392 | bool HasResidualBlock(ResidualBlock* residual_block) { |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 393 | bool have_residual_block = true; |
| 394 | if (GetParam()) { |
| 395 | have_residual_block &= |
| 396 | (problem->residual_block_set().find(residual_block) != |
| 397 | problem->residual_block_set().end()); |
| 398 | } |
| 399 | have_residual_block &= |
| 400 | find(problem->program().residual_blocks().begin(), |
| 401 | problem->program().residual_blocks().end(), |
| 402 | residual_block) != problem->program().residual_blocks().end(); |
| 403 | return have_residual_block; |
| 404 | } |
| 405 | |
| 406 | int NumResidualBlocks() { |
| 407 | // Verify that the hash set of residuals is maintained consistently. |
| 408 | if (GetParam()) { |
| 409 | EXPECT_EQ(problem->residual_block_set().size(), |
| 410 | problem->NumResidualBlocks()); |
| 411 | } |
| 412 | return problem->NumResidualBlocks(); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 413 | } |
| 414 | |
| 415 | // The next block of functions until the end are only for testing the |
| 416 | // residual block removals. |
| 417 | void ExpectParameterBlockContainsResidualBlock( |
| 418 | double* values, |
| 419 | ResidualBlock* residual_block) { |
| 420 | ParameterBlock* parameter_block = |
| 421 | FindOrDie(problem->parameter_map(), values); |
| 422 | EXPECT_TRUE(ContainsKey(*(parameter_block->mutable_residual_blocks()), |
| 423 | residual_block)); |
| 424 | } |
| 425 | |
| 426 | void ExpectSize(double* values, int size) { |
| 427 | ParameterBlock* parameter_block = |
| 428 | FindOrDie(problem->parameter_map(), values); |
| 429 | EXPECT_EQ(size, parameter_block->mutable_residual_blocks()->size()); |
| 430 | } |
| 431 | |
| 432 | // Degenerate case. |
| 433 | void ExpectParameterBlockContains(double* values) { |
| 434 | ExpectSize(values, 0); |
| 435 | } |
| 436 | |
| 437 | void ExpectParameterBlockContains(double* values, |
| 438 | ResidualBlock* r1) { |
| 439 | ExpectSize(values, 1); |
| 440 | ExpectParameterBlockContainsResidualBlock(values, r1); |
| 441 | } |
| 442 | |
| 443 | void ExpectParameterBlockContains(double* values, |
| 444 | ResidualBlock* r1, |
| 445 | ResidualBlock* r2) { |
| 446 | ExpectSize(values, 2); |
| 447 | ExpectParameterBlockContainsResidualBlock(values, r1); |
| 448 | ExpectParameterBlockContainsResidualBlock(values, r2); |
| 449 | } |
| 450 | |
| 451 | void ExpectParameterBlockContains(double* values, |
| 452 | ResidualBlock* r1, |
| 453 | ResidualBlock* r2, |
| 454 | ResidualBlock* r3) { |
| 455 | ExpectSize(values, 3); |
| 456 | ExpectParameterBlockContainsResidualBlock(values, r1); |
| 457 | ExpectParameterBlockContainsResidualBlock(values, r2); |
| 458 | ExpectParameterBlockContainsResidualBlock(values, r3); |
| 459 | } |
| 460 | |
| 461 | void ExpectParameterBlockContains(double* values, |
| 462 | ResidualBlock* r1, |
| 463 | ResidualBlock* r2, |
| 464 | ResidualBlock* r3, |
| 465 | ResidualBlock* r4) { |
| 466 | ExpectSize(values, 4); |
| 467 | ExpectParameterBlockContainsResidualBlock(values, r1); |
| 468 | ExpectParameterBlockContainsResidualBlock(values, r2); |
| 469 | ExpectParameterBlockContainsResidualBlock(values, r3); |
| 470 | ExpectParameterBlockContainsResidualBlock(values, r4); |
| 471 | } |
| 472 | |
| 473 | scoped_ptr<ProblemImpl> problem; |
| 474 | double y[4], z[5], w[3]; |
| 475 | }; |
| 476 | |
| 477 | TEST(Problem, SetParameterBlockConstantWithUnknownPtrDies) { |
| 478 | double x[3]; |
| 479 | double y[2]; |
| 480 | |
| 481 | Problem problem; |
| 482 | problem.AddParameterBlock(x, 3); |
| 483 | |
| 484 | EXPECT_DEATH_IF_SUPPORTED(problem.SetParameterBlockConstant(y), |
| 485 | "Parameter block not found:"); |
| 486 | } |
| 487 | |
| 488 | TEST(Problem, SetParameterBlockVariableWithUnknownPtrDies) { |
| 489 | double x[3]; |
| 490 | double y[2]; |
| 491 | |
| 492 | Problem problem; |
| 493 | problem.AddParameterBlock(x, 3); |
| 494 | |
| 495 | EXPECT_DEATH_IF_SUPPORTED(problem.SetParameterBlockVariable(y), |
| 496 | "Parameter block not found:"); |
| 497 | } |
| 498 | |
| 499 | TEST(Problem, SetLocalParameterizationWithUnknownPtrDies) { |
| 500 | double x[3]; |
| 501 | double y[2]; |
| 502 | |
| 503 | Problem problem; |
| 504 | problem.AddParameterBlock(x, 3); |
| 505 | |
| 506 | EXPECT_DEATH_IF_SUPPORTED( |
| 507 | problem.SetParameterization(y, new IdentityParameterization(3)), |
| 508 | "Parameter block not found:"); |
| 509 | } |
| 510 | |
| 511 | TEST(Problem, RemoveParameterBlockWithUnknownPtrDies) { |
| 512 | double x[3]; |
| 513 | double y[2]; |
| 514 | |
| 515 | Problem problem; |
| 516 | problem.AddParameterBlock(x, 3); |
| 517 | |
| 518 | EXPECT_DEATH_IF_SUPPORTED( |
| 519 | problem.RemoveParameterBlock(y), "Parameter block not found:"); |
| 520 | } |
| 521 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 522 | TEST(Problem, GetParameterization) { |
| 523 | double x[3]; |
| 524 | double y[2]; |
| 525 | |
| 526 | Problem problem; |
| 527 | problem.AddParameterBlock(x, 3); |
| 528 | problem.AddParameterBlock(y, 2); |
| 529 | |
| 530 | LocalParameterization* parameterization = new IdentityParameterization(3); |
| 531 | problem.SetParameterization(x, parameterization); |
| 532 | EXPECT_EQ(problem.GetParameterization(x), parameterization); |
| 533 | EXPECT_TRUE(problem.GetParameterization(y) == NULL); |
| 534 | } |
| 535 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 536 | TEST(Problem, ParameterBlockQueryTest) { |
| 537 | double x[3]; |
| 538 | double y[4]; |
| 539 | Problem problem; |
| 540 | problem.AddParameterBlock(x, 3); |
| 541 | problem.AddParameterBlock(y, 4); |
| 542 | |
| 543 | vector<int> constant_parameters; |
| 544 | constant_parameters.push_back(0); |
| 545 | problem.SetParameterization( |
| 546 | x, |
| 547 | new SubsetParameterization(3, constant_parameters)); |
| 548 | EXPECT_EQ(problem.ParameterBlockSize(x), 3); |
| 549 | EXPECT_EQ(problem.ParameterBlockLocalSize(x), 2); |
| 550 | EXPECT_EQ(problem.ParameterBlockLocalSize(y), 4); |
| 551 | |
| 552 | vector<double*> parameter_blocks; |
| 553 | problem.GetParameterBlocks(¶meter_blocks); |
| 554 | EXPECT_EQ(parameter_blocks.size(), 2); |
| 555 | EXPECT_NE(parameter_blocks[0], parameter_blocks[1]); |
| 556 | EXPECT_TRUE(parameter_blocks[0] == x || parameter_blocks[0] == y); |
| 557 | EXPECT_TRUE(parameter_blocks[1] == x || parameter_blocks[1] == y); |
| 558 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 559 | EXPECT_TRUE(problem.HasParameterBlock(x)); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 560 | problem.RemoveParameterBlock(x); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 561 | EXPECT_FALSE(problem.HasParameterBlock(x)); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 562 | problem.GetParameterBlocks(¶meter_blocks); |
| 563 | EXPECT_EQ(parameter_blocks.size(), 1); |
| 564 | EXPECT_TRUE(parameter_blocks[0] == y); |
| 565 | } |
| 566 | |
| 567 | TEST_P(DynamicProblem, RemoveParameterBlockWithNoResiduals) { |
| 568 | problem->AddParameterBlock(y, 4); |
| 569 | problem->AddParameterBlock(z, 5); |
| 570 | problem->AddParameterBlock(w, 3); |
| 571 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 572 | ASSERT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 573 | EXPECT_EQ(y, GetParameterBlock(0)->user_state()); |
| 574 | EXPECT_EQ(z, GetParameterBlock(1)->user_state()); |
| 575 | EXPECT_EQ(w, GetParameterBlock(2)->user_state()); |
| 576 | |
| 577 | // w is at the end, which might break the swapping logic so try adding and |
| 578 | // removing it. |
| 579 | problem->RemoveParameterBlock(w); |
| 580 | ASSERT_EQ(2, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 581 | ASSERT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 582 | EXPECT_EQ(y, GetParameterBlock(0)->user_state()); |
| 583 | EXPECT_EQ(z, GetParameterBlock(1)->user_state()); |
| 584 | problem->AddParameterBlock(w, 3); |
| 585 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 586 | ASSERT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 587 | EXPECT_EQ(y, GetParameterBlock(0)->user_state()); |
| 588 | EXPECT_EQ(z, GetParameterBlock(1)->user_state()); |
| 589 | EXPECT_EQ(w, GetParameterBlock(2)->user_state()); |
| 590 | |
| 591 | // Now remove z, which is in the middle, and add it back. |
| 592 | problem->RemoveParameterBlock(z); |
| 593 | ASSERT_EQ(2, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 594 | ASSERT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 595 | EXPECT_EQ(y, GetParameterBlock(0)->user_state()); |
| 596 | EXPECT_EQ(w, GetParameterBlock(1)->user_state()); |
| 597 | problem->AddParameterBlock(z, 5); |
| 598 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 599 | ASSERT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 600 | EXPECT_EQ(y, GetParameterBlock(0)->user_state()); |
| 601 | EXPECT_EQ(w, GetParameterBlock(1)->user_state()); |
| 602 | EXPECT_EQ(z, GetParameterBlock(2)->user_state()); |
| 603 | |
| 604 | // Now remove everything. |
| 605 | // y |
| 606 | problem->RemoveParameterBlock(y); |
| 607 | ASSERT_EQ(2, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 608 | ASSERT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 609 | EXPECT_EQ(z, GetParameterBlock(0)->user_state()); |
| 610 | EXPECT_EQ(w, GetParameterBlock(1)->user_state()); |
| 611 | |
| 612 | // z |
| 613 | problem->RemoveParameterBlock(z); |
| 614 | ASSERT_EQ(1, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 615 | ASSERT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 616 | EXPECT_EQ(w, GetParameterBlock(0)->user_state()); |
| 617 | |
| 618 | // w |
| 619 | problem->RemoveParameterBlock(w); |
| 620 | EXPECT_EQ(0, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 621 | EXPECT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 622 | } |
| 623 | |
| 624 | TEST_P(DynamicProblem, RemoveParameterBlockWithResiduals) { |
| 625 | problem->AddParameterBlock(y, 4); |
| 626 | problem->AddParameterBlock(z, 5); |
| 627 | problem->AddParameterBlock(w, 3); |
| 628 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 629 | ASSERT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 630 | EXPECT_EQ(y, GetParameterBlock(0)->user_state()); |
| 631 | EXPECT_EQ(z, GetParameterBlock(1)->user_state()); |
| 632 | EXPECT_EQ(w, GetParameterBlock(2)->user_state()); |
| 633 | |
| 634 | // Add all combinations of cost functions. |
| 635 | CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3); |
| 636 | CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5); |
| 637 | CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3); |
| 638 | CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3); |
| 639 | CostFunction* cost_y = new UnaryCostFunction (1, 4); |
| 640 | CostFunction* cost_z = new UnaryCostFunction (1, 5); |
| 641 | CostFunction* cost_w = new UnaryCostFunction (1, 3); |
| 642 | |
| 643 | ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w); |
| 644 | ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z); |
| 645 | ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w); |
| 646 | ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w); |
| 647 | ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y); |
| 648 | ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z); |
| 649 | ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w); |
| 650 | |
| 651 | EXPECT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 652 | EXPECT_EQ(7, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 653 | |
| 654 | // Remove w, which should remove r_yzw, r_yw, r_zw, r_w. |
| 655 | problem->RemoveParameterBlock(w); |
| 656 | ASSERT_EQ(2, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 657 | ASSERT_EQ(3, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 658 | |
| 659 | ASSERT_FALSE(HasResidualBlock(r_yzw)); |
| 660 | ASSERT_TRUE (HasResidualBlock(r_yz )); |
| 661 | ASSERT_FALSE(HasResidualBlock(r_yw )); |
| 662 | ASSERT_FALSE(HasResidualBlock(r_zw )); |
| 663 | ASSERT_TRUE (HasResidualBlock(r_y )); |
| 664 | ASSERT_TRUE (HasResidualBlock(r_z )); |
| 665 | ASSERT_FALSE(HasResidualBlock(r_w )); |
| 666 | |
| 667 | // Remove z, which will remove almost everything else. |
| 668 | problem->RemoveParameterBlock(z); |
| 669 | ASSERT_EQ(1, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 670 | ASSERT_EQ(1, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 671 | |
| 672 | ASSERT_FALSE(HasResidualBlock(r_yzw)); |
| 673 | ASSERT_FALSE(HasResidualBlock(r_yz )); |
| 674 | ASSERT_FALSE(HasResidualBlock(r_yw )); |
| 675 | ASSERT_FALSE(HasResidualBlock(r_zw )); |
| 676 | ASSERT_TRUE (HasResidualBlock(r_y )); |
| 677 | ASSERT_FALSE(HasResidualBlock(r_z )); |
| 678 | ASSERT_FALSE(HasResidualBlock(r_w )); |
| 679 | |
| 680 | // Remove y; all gone. |
| 681 | problem->RemoveParameterBlock(y); |
| 682 | EXPECT_EQ(0, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 683 | EXPECT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 684 | } |
| 685 | |
| 686 | TEST_P(DynamicProblem, RemoveResidualBlock) { |
| 687 | problem->AddParameterBlock(y, 4); |
| 688 | problem->AddParameterBlock(z, 5); |
| 689 | problem->AddParameterBlock(w, 3); |
| 690 | |
| 691 | // Add all combinations of cost functions. |
| 692 | CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3); |
| 693 | CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5); |
| 694 | CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3); |
| 695 | CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3); |
| 696 | CostFunction* cost_y = new UnaryCostFunction (1, 4); |
| 697 | CostFunction* cost_z = new UnaryCostFunction (1, 5); |
| 698 | CostFunction* cost_w = new UnaryCostFunction (1, 3); |
| 699 | |
| 700 | ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w); |
| 701 | ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z); |
| 702 | ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w); |
| 703 | ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w); |
| 704 | ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y); |
| 705 | ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z); |
| 706 | ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w); |
| 707 | |
| 708 | if (GetParam()) { |
| 709 | // In this test parameterization, there should be back-pointers from the |
| 710 | // parameter blocks to the residual blocks. |
| 711 | ExpectParameterBlockContains(y, r_yzw, r_yz, r_yw, r_y); |
| 712 | ExpectParameterBlockContains(z, r_yzw, r_yz, r_zw, r_z); |
| 713 | ExpectParameterBlockContains(w, r_yzw, r_yw, r_zw, r_w); |
| 714 | } else { |
| 715 | // Otherwise, nothing. |
| 716 | EXPECT_TRUE(GetParameterBlock(0)->mutable_residual_blocks() == NULL); |
| 717 | EXPECT_TRUE(GetParameterBlock(1)->mutable_residual_blocks() == NULL); |
| 718 | EXPECT_TRUE(GetParameterBlock(2)->mutable_residual_blocks() == NULL); |
| 719 | } |
| 720 | EXPECT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 721 | EXPECT_EQ(7, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 722 | |
| 723 | // Remove each residual and check the state after each removal. |
| 724 | |
| 725 | // Remove r_yzw. |
| 726 | problem->RemoveResidualBlock(r_yzw); |
| 727 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 728 | ASSERT_EQ(6, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 729 | if (GetParam()) { |
| 730 | ExpectParameterBlockContains(y, r_yz, r_yw, r_y); |
| 731 | ExpectParameterBlockContains(z, r_yz, r_zw, r_z); |
| 732 | ExpectParameterBlockContains(w, r_yw, r_zw, r_w); |
| 733 | } |
| 734 | ASSERT_TRUE (HasResidualBlock(r_yz )); |
| 735 | ASSERT_TRUE (HasResidualBlock(r_yw )); |
| 736 | ASSERT_TRUE (HasResidualBlock(r_zw )); |
| 737 | ASSERT_TRUE (HasResidualBlock(r_y )); |
| 738 | ASSERT_TRUE (HasResidualBlock(r_z )); |
| 739 | ASSERT_TRUE (HasResidualBlock(r_w )); |
| 740 | |
| 741 | // Remove r_yw. |
| 742 | problem->RemoveResidualBlock(r_yw); |
| 743 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 744 | ASSERT_EQ(5, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 745 | if (GetParam()) { |
| 746 | ExpectParameterBlockContains(y, r_yz, r_y); |
| 747 | ExpectParameterBlockContains(z, r_yz, r_zw, r_z); |
| 748 | ExpectParameterBlockContains(w, r_zw, r_w); |
| 749 | } |
| 750 | ASSERT_TRUE (HasResidualBlock(r_yz )); |
| 751 | ASSERT_TRUE (HasResidualBlock(r_zw )); |
| 752 | ASSERT_TRUE (HasResidualBlock(r_y )); |
| 753 | ASSERT_TRUE (HasResidualBlock(r_z )); |
| 754 | ASSERT_TRUE (HasResidualBlock(r_w )); |
| 755 | |
| 756 | // Remove r_zw. |
| 757 | problem->RemoveResidualBlock(r_zw); |
| 758 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 759 | ASSERT_EQ(4, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 760 | if (GetParam()) { |
| 761 | ExpectParameterBlockContains(y, r_yz, r_y); |
| 762 | ExpectParameterBlockContains(z, r_yz, r_z); |
| 763 | ExpectParameterBlockContains(w, r_w); |
| 764 | } |
| 765 | ASSERT_TRUE (HasResidualBlock(r_yz )); |
| 766 | ASSERT_TRUE (HasResidualBlock(r_y )); |
| 767 | ASSERT_TRUE (HasResidualBlock(r_z )); |
| 768 | ASSERT_TRUE (HasResidualBlock(r_w )); |
| 769 | |
| 770 | // Remove r_w. |
| 771 | problem->RemoveResidualBlock(r_w); |
| 772 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 773 | ASSERT_EQ(3, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 774 | if (GetParam()) { |
| 775 | ExpectParameterBlockContains(y, r_yz, r_y); |
| 776 | ExpectParameterBlockContains(z, r_yz, r_z); |
| 777 | ExpectParameterBlockContains(w); |
| 778 | } |
| 779 | ASSERT_TRUE (HasResidualBlock(r_yz )); |
| 780 | ASSERT_TRUE (HasResidualBlock(r_y )); |
| 781 | ASSERT_TRUE (HasResidualBlock(r_z )); |
| 782 | |
| 783 | // Remove r_yz. |
| 784 | problem->RemoveResidualBlock(r_yz); |
| 785 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 786 | ASSERT_EQ(2, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 787 | if (GetParam()) { |
| 788 | ExpectParameterBlockContains(y, r_y); |
| 789 | ExpectParameterBlockContains(z, r_z); |
| 790 | ExpectParameterBlockContains(w); |
| 791 | } |
| 792 | ASSERT_TRUE (HasResidualBlock(r_y )); |
| 793 | ASSERT_TRUE (HasResidualBlock(r_z )); |
| 794 | |
| 795 | // Remove the last two. |
| 796 | problem->RemoveResidualBlock(r_z); |
| 797 | problem->RemoveResidualBlock(r_y); |
| 798 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 799 | ASSERT_EQ(0, NumResidualBlocks()); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 800 | if (GetParam()) { |
| 801 | ExpectParameterBlockContains(y); |
| 802 | ExpectParameterBlockContains(z); |
| 803 | ExpectParameterBlockContains(w); |
| 804 | } |
| 805 | } |
| 806 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 807 | TEST_P(DynamicProblem, RemoveInvalidResidualBlockDies) { |
| 808 | problem->AddParameterBlock(y, 4); |
| 809 | problem->AddParameterBlock(z, 5); |
| 810 | problem->AddParameterBlock(w, 3); |
| 811 | |
| 812 | // Add all combinations of cost functions. |
| 813 | CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3); |
| 814 | CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5); |
| 815 | CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3); |
| 816 | CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3); |
| 817 | CostFunction* cost_y = new UnaryCostFunction (1, 4); |
| 818 | CostFunction* cost_z = new UnaryCostFunction (1, 5); |
| 819 | CostFunction* cost_w = new UnaryCostFunction (1, 3); |
| 820 | |
| 821 | ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w); |
| 822 | ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z); |
| 823 | ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w); |
| 824 | ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w); |
| 825 | ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y); |
| 826 | ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z); |
| 827 | ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w); |
| 828 | |
| 829 | // Remove r_yzw. |
| 830 | problem->RemoveResidualBlock(r_yzw); |
| 831 | ASSERT_EQ(3, problem->NumParameterBlocks()); |
| 832 | ASSERT_EQ(6, NumResidualBlocks()); |
| 833 | // Attempt to remove r_yzw again. |
| 834 | EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_yzw), "not found"); |
| 835 | |
| 836 | // Attempt to remove a cast pointer never added as a residual. |
| 837 | int trash_memory = 1234; |
| 838 | ResidualBlock* invalid_residual = |
| 839 | reinterpret_cast<ResidualBlock*>(&trash_memory); |
| 840 | EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(invalid_residual), |
| 841 | "not found"); |
| 842 | |
| 843 | // Remove a parameter block, which in turn removes the dependent residuals |
| 844 | // then attempt to remove them directly. |
| 845 | problem->RemoveParameterBlock(z); |
| 846 | ASSERT_EQ(2, problem->NumParameterBlocks()); |
| 847 | ASSERT_EQ(3, NumResidualBlocks()); |
| 848 | EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_yz), "not found"); |
| 849 | EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_zw), "not found"); |
| 850 | EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_z), "not found"); |
| 851 | |
| 852 | problem->RemoveResidualBlock(r_yw); |
| 853 | problem->RemoveResidualBlock(r_w); |
| 854 | problem->RemoveResidualBlock(r_y); |
| 855 | } |
| 856 | |
| 857 | // Check that a null-terminated array, a, has the same elements as b. |
| 858 | template<typename T> |
| 859 | void ExpectVectorContainsUnordered(const T* a, const vector<T>& b) { |
| 860 | // Compute the size of a. |
| 861 | int size = 0; |
| 862 | while (a[size]) { |
| 863 | ++size; |
| 864 | } |
| 865 | ASSERT_EQ(size, b.size()); |
| 866 | |
| 867 | // Sort a. |
| 868 | vector<T> a_sorted(size); |
| 869 | copy(a, a + size, a_sorted.begin()); |
| 870 | sort(a_sorted.begin(), a_sorted.end()); |
| 871 | |
| 872 | // Sort b. |
| 873 | vector<T> b_sorted(b); |
| 874 | sort(b_sorted.begin(), b_sorted.end()); |
| 875 | |
| 876 | // Compare. |
| 877 | for (int i = 0; i < size; ++i) { |
| 878 | EXPECT_EQ(a_sorted[i], b_sorted[i]); |
| 879 | } |
| 880 | } |
| 881 | |
| 882 | void ExpectProblemHasResidualBlocks( |
| 883 | const ProblemImpl &problem, |
| 884 | const ResidualBlockId *expected_residual_blocks) { |
| 885 | vector<ResidualBlockId> residual_blocks; |
| 886 | problem.GetResidualBlocks(&residual_blocks); |
| 887 | ExpectVectorContainsUnordered(expected_residual_blocks, residual_blocks); |
| 888 | } |
| 889 | |
| 890 | TEST_P(DynamicProblem, GetXXXBlocksForYYYBlock) { |
| 891 | problem->AddParameterBlock(y, 4); |
| 892 | problem->AddParameterBlock(z, 5); |
| 893 | problem->AddParameterBlock(w, 3); |
| 894 | |
| 895 | // Add all combinations of cost functions. |
| 896 | CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3); |
| 897 | CostFunction* cost_yz = new BinaryCostFunction (1, 4, 5); |
| 898 | CostFunction* cost_yw = new BinaryCostFunction (1, 4, 3); |
| 899 | CostFunction* cost_zw = new BinaryCostFunction (1, 5, 3); |
| 900 | CostFunction* cost_y = new UnaryCostFunction (1, 4); |
| 901 | CostFunction* cost_z = new UnaryCostFunction (1, 5); |
| 902 | CostFunction* cost_w = new UnaryCostFunction (1, 3); |
| 903 | |
| 904 | ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w); |
| 905 | { |
| 906 | ResidualBlockId expected_residuals[] = {r_yzw, 0}; |
| 907 | ExpectProblemHasResidualBlocks(*problem, expected_residuals); |
| 908 | } |
| 909 | ResidualBlock* r_yz = problem->AddResidualBlock(cost_yz, NULL, y, z); |
| 910 | { |
| 911 | ResidualBlockId expected_residuals[] = {r_yzw, r_yz, 0}; |
| 912 | ExpectProblemHasResidualBlocks(*problem, expected_residuals); |
| 913 | } |
| 914 | ResidualBlock* r_yw = problem->AddResidualBlock(cost_yw, NULL, y, w); |
| 915 | { |
| 916 | ResidualBlock *expected_residuals[] = {r_yzw, r_yz, r_yw, 0}; |
| 917 | ExpectProblemHasResidualBlocks(*problem, expected_residuals); |
| 918 | } |
| 919 | ResidualBlock* r_zw = problem->AddResidualBlock(cost_zw, NULL, z, w); |
| 920 | { |
| 921 | ResidualBlock *expected_residuals[] = {r_yzw, r_yz, r_yw, r_zw, 0}; |
| 922 | ExpectProblemHasResidualBlocks(*problem, expected_residuals); |
| 923 | } |
| 924 | ResidualBlock* r_y = problem->AddResidualBlock(cost_y, NULL, y); |
| 925 | { |
| 926 | ResidualBlock *expected_residuals[] = {r_yzw, r_yz, r_yw, r_zw, r_y, 0}; |
| 927 | ExpectProblemHasResidualBlocks(*problem, expected_residuals); |
| 928 | } |
| 929 | ResidualBlock* r_z = problem->AddResidualBlock(cost_z, NULL, z); |
| 930 | { |
| 931 | ResidualBlock *expected_residuals[] = { |
| 932 | r_yzw, r_yz, r_yw, r_zw, r_y, r_z, 0 |
| 933 | }; |
| 934 | ExpectProblemHasResidualBlocks(*problem, expected_residuals); |
| 935 | } |
| 936 | ResidualBlock* r_w = problem->AddResidualBlock(cost_w, NULL, w); |
| 937 | { |
| 938 | ResidualBlock *expected_residuals[] = { |
| 939 | r_yzw, r_yz, r_yw, r_zw, r_y, r_z, r_w, 0 |
| 940 | }; |
| 941 | ExpectProblemHasResidualBlocks(*problem, expected_residuals); |
| 942 | } |
| 943 | |
| 944 | vector<double*> parameter_blocks; |
| 945 | vector<ResidualBlockId> residual_blocks; |
| 946 | |
| 947 | // Check GetResidualBlocksForParameterBlock() for all parameter blocks. |
| 948 | struct GetResidualBlocksForParameterBlockTestCase { |
| 949 | double* parameter_block; |
| 950 | ResidualBlockId expected_residual_blocks[10]; |
| 951 | }; |
| 952 | GetResidualBlocksForParameterBlockTestCase get_residual_blocks_cases[] = { |
| 953 | { y, { r_yzw, r_yz, r_yw, r_y, NULL} }, |
| 954 | { z, { r_yzw, r_yz, r_zw, r_z, NULL} }, |
| 955 | { w, { r_yzw, r_yw, r_zw, r_w, NULL} }, |
| 956 | { NULL } |
| 957 | }; |
| 958 | for (int i = 0; get_residual_blocks_cases[i].parameter_block; ++i) { |
| 959 | problem->GetResidualBlocksForParameterBlock( |
| 960 | get_residual_blocks_cases[i].parameter_block, |
| 961 | &residual_blocks); |
| 962 | ExpectVectorContainsUnordered( |
| 963 | get_residual_blocks_cases[i].expected_residual_blocks, |
| 964 | residual_blocks); |
| 965 | } |
| 966 | |
| 967 | // Check GetParameterBlocksForResidualBlock() for all residual blocks. |
| 968 | struct GetParameterBlocksForResidualBlockTestCase { |
| 969 | ResidualBlockId residual_block; |
| 970 | double* expected_parameter_blocks[10]; |
| 971 | }; |
| 972 | GetParameterBlocksForResidualBlockTestCase get_parameter_blocks_cases[] = { |
| 973 | { r_yzw, { y, z, w, NULL } }, |
| 974 | { r_yz , { y, z, NULL } }, |
| 975 | { r_yw , { y, w, NULL } }, |
| 976 | { r_zw , { z, w, NULL } }, |
| 977 | { r_y , { y, NULL } }, |
| 978 | { r_z , { z, NULL } }, |
| 979 | { r_w , { w, NULL } }, |
| 980 | { NULL } |
| 981 | }; |
| 982 | for (int i = 0; get_parameter_blocks_cases[i].residual_block; ++i) { |
| 983 | problem->GetParameterBlocksForResidualBlock( |
| 984 | get_parameter_blocks_cases[i].residual_block, |
| 985 | ¶meter_blocks); |
| 986 | ExpectVectorContainsUnordered( |
| 987 | get_parameter_blocks_cases[i].expected_parameter_blocks, |
| 988 | parameter_blocks); |
| 989 | } |
| 990 | } |
| 991 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 992 | INSTANTIATE_TEST_CASE_P(OptionsInstantiation, |
| 993 | DynamicProblem, |
| 994 | ::testing::Values(true, false)); |
| 995 | |
| 996 | // Test for Problem::Evaluate |
| 997 | |
| 998 | // r_i = i - (j + 1) * x_ij^2 |
| 999 | template <int kNumResiduals, int kNumParameterBlocks> |
| 1000 | class QuadraticCostFunction : public CostFunction { |
| 1001 | public: |
| 1002 | QuadraticCostFunction() { |
| 1003 | CHECK_GT(kNumResiduals, 0); |
| 1004 | CHECK_GT(kNumParameterBlocks, 0); |
| 1005 | set_num_residuals(kNumResiduals); |
| 1006 | for (int i = 0; i < kNumParameterBlocks; ++i) { |
| 1007 | mutable_parameter_block_sizes()->push_back(kNumResiduals); |
| 1008 | } |
| 1009 | } |
| 1010 | |
| 1011 | virtual bool Evaluate(double const* const* parameters, |
| 1012 | double* residuals, |
| 1013 | double** jacobians) const { |
| 1014 | for (int i = 0; i < kNumResiduals; ++i) { |
| 1015 | residuals[i] = i; |
| 1016 | for (int j = 0; j < kNumParameterBlocks; ++j) { |
| 1017 | residuals[i] -= (j + 1.0) * parameters[j][i] * parameters[j][i]; |
| 1018 | } |
| 1019 | } |
| 1020 | |
| 1021 | if (jacobians == NULL) { |
| 1022 | return true; |
| 1023 | } |
| 1024 | |
| 1025 | for (int j = 0; j < kNumParameterBlocks; ++j) { |
| 1026 | if (jacobians[j] != NULL) { |
| 1027 | MatrixRef(jacobians[j], kNumResiduals, kNumResiduals) = |
| 1028 | (-2.0 * (j + 1.0) * |
| 1029 | ConstVectorRef(parameters[j], kNumResiduals)).asDiagonal(); |
| 1030 | } |
| 1031 | } |
| 1032 | |
| 1033 | return true; |
| 1034 | } |
| 1035 | }; |
| 1036 | |
| 1037 | // Convert a CRSMatrix to a dense Eigen matrix. |
| 1038 | void CRSToDenseMatrix(const CRSMatrix& input, Matrix* output) { |
| 1039 | Matrix& m = *CHECK_NOTNULL(output); |
| 1040 | m.resize(input.num_rows, input.num_cols); |
| 1041 | m.setZero(); |
| 1042 | for (int row = 0; row < input.num_rows; ++row) { |
| 1043 | for (int j = input.rows[row]; j < input.rows[row + 1]; ++j) { |
| 1044 | const int col = input.cols[j]; |
| 1045 | m(row, col) = input.values[j]; |
| 1046 | } |
| 1047 | } |
| 1048 | } |
| 1049 | |
| 1050 | class ProblemEvaluateTest : public ::testing::Test { |
| 1051 | protected: |
| 1052 | void SetUp() { |
| 1053 | for (int i = 0; i < 6; ++i) { |
| 1054 | parameters_[i] = static_cast<double>(i + 1); |
| 1055 | } |
| 1056 | |
| 1057 | parameter_blocks_.push_back(parameters_); |
| 1058 | parameter_blocks_.push_back(parameters_ + 2); |
| 1059 | parameter_blocks_.push_back(parameters_ + 4); |
| 1060 | |
| 1061 | |
| 1062 | CostFunction* cost_function = new QuadraticCostFunction<2, 2>; |
| 1063 | |
| 1064 | // f(x, y) |
| 1065 | residual_blocks_.push_back( |
| 1066 | problem_.AddResidualBlock(cost_function, |
| 1067 | NULL, |
| 1068 | parameters_, |
| 1069 | parameters_ + 2)); |
| 1070 | // g(y, z) |
| 1071 | residual_blocks_.push_back( |
| 1072 | problem_.AddResidualBlock(cost_function, |
| 1073 | NULL, parameters_ + 2, |
| 1074 | parameters_ + 4)); |
| 1075 | // h(z, x) |
| 1076 | residual_blocks_.push_back( |
| 1077 | problem_.AddResidualBlock(cost_function, |
| 1078 | NULL, |
| 1079 | parameters_ + 4, |
| 1080 | parameters_)); |
| 1081 | } |
| 1082 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 1083 | void TearDown() { |
| 1084 | EXPECT_TRUE(problem_.program().IsValid()); |
| 1085 | } |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 1086 | |
| 1087 | void EvaluateAndCompare(const Problem::EvaluateOptions& options, |
| 1088 | const int expected_num_rows, |
| 1089 | const int expected_num_cols, |
| 1090 | const double expected_cost, |
| 1091 | const double* expected_residuals, |
| 1092 | const double* expected_gradient, |
| 1093 | const double* expected_jacobian) { |
| 1094 | double cost; |
| 1095 | vector<double> residuals; |
| 1096 | vector<double> gradient; |
| 1097 | CRSMatrix jacobian; |
| 1098 | |
| 1099 | EXPECT_TRUE( |
| 1100 | problem_.Evaluate(options, |
| 1101 | &cost, |
| 1102 | expected_residuals != NULL ? &residuals : NULL, |
| 1103 | expected_gradient != NULL ? &gradient : NULL, |
| 1104 | expected_jacobian != NULL ? &jacobian : NULL)); |
| 1105 | |
| 1106 | if (expected_residuals != NULL) { |
| 1107 | EXPECT_EQ(residuals.size(), expected_num_rows); |
| 1108 | } |
| 1109 | |
| 1110 | if (expected_gradient != NULL) { |
| 1111 | EXPECT_EQ(gradient.size(), expected_num_cols); |
| 1112 | } |
| 1113 | |
| 1114 | if (expected_jacobian != NULL) { |
| 1115 | EXPECT_EQ(jacobian.num_rows, expected_num_rows); |
| 1116 | EXPECT_EQ(jacobian.num_cols, expected_num_cols); |
| 1117 | } |
| 1118 | |
| 1119 | Matrix dense_jacobian; |
| 1120 | if (expected_jacobian != NULL) { |
| 1121 | CRSToDenseMatrix(jacobian, &dense_jacobian); |
| 1122 | } |
| 1123 | |
| 1124 | CompareEvaluations(expected_num_rows, |
| 1125 | expected_num_cols, |
| 1126 | expected_cost, |
| 1127 | expected_residuals, |
| 1128 | expected_gradient, |
| 1129 | expected_jacobian, |
| 1130 | cost, |
| 1131 | residuals.size() > 0 ? &residuals[0] : NULL, |
| 1132 | gradient.size() > 0 ? &gradient[0] : NULL, |
| 1133 | dense_jacobian.data()); |
| 1134 | } |
| 1135 | |
| 1136 | void CheckAllEvaluationCombinations(const Problem::EvaluateOptions& options, |
| 1137 | const ExpectedEvaluation& expected) { |
| 1138 | for (int i = 0; i < 8; ++i) { |
| 1139 | EvaluateAndCompare(options, |
| 1140 | expected.num_rows, |
| 1141 | expected.num_cols, |
| 1142 | expected.cost, |
| 1143 | (i & 1) ? expected.residuals : NULL, |
| 1144 | (i & 2) ? expected.gradient : NULL, |
| 1145 | (i & 4) ? expected.jacobian : NULL); |
| 1146 | } |
| 1147 | } |
| 1148 | |
| 1149 | ProblemImpl problem_; |
| 1150 | double parameters_[6]; |
| 1151 | vector<double*> parameter_blocks_; |
| 1152 | vector<ResidualBlockId> residual_blocks_; |
| 1153 | }; |
| 1154 | |
| 1155 | |
| 1156 | TEST_F(ProblemEvaluateTest, MultipleParameterAndResidualBlocks) { |
| 1157 | ExpectedEvaluation expected = { |
| 1158 | // Rows/columns |
| 1159 | 6, 6, |
| 1160 | // Cost |
| 1161 | 7607.0, |
| 1162 | // Residuals |
| 1163 | { -19.0, -35.0, // f |
| 1164 | -59.0, -87.0, // g |
| 1165 | -27.0, -43.0 // h |
| 1166 | }, |
| 1167 | // Gradient |
| 1168 | { 146.0, 484.0, // x |
| 1169 | 582.0, 1256.0, // y |
| 1170 | 1450.0, 2604.0, // z |
| 1171 | }, |
| 1172 | // Jacobian |
| 1173 | // x y z |
| 1174 | { /* f(x, y) */ -2.0, 0.0, -12.0, 0.0, 0.0, 0.0, |
| 1175 | 0.0, -4.0, 0.0, -16.0, 0.0, 0.0, |
| 1176 | /* g(y, z) */ 0.0, 0.0, -6.0, 0.0, -20.0, 0.0, |
| 1177 | 0.0, 0.0, 0.0, -8.0, 0.0, -24.0, |
| 1178 | /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0, |
| 1179 | 0.0, -8.0, 0.0, 0.0, 0.0, -12.0 |
| 1180 | } |
| 1181 | }; |
| 1182 | |
| 1183 | CheckAllEvaluationCombinations(Problem::EvaluateOptions(), expected); |
| 1184 | } |
| 1185 | |
| 1186 | TEST_F(ProblemEvaluateTest, ParameterAndResidualBlocksPassedInOptions) { |
| 1187 | ExpectedEvaluation expected = { |
| 1188 | // Rows/columns |
| 1189 | 6, 6, |
| 1190 | // Cost |
| 1191 | 7607.0, |
| 1192 | // Residuals |
| 1193 | { -19.0, -35.0, // f |
| 1194 | -59.0, -87.0, // g |
| 1195 | -27.0, -43.0 // h |
| 1196 | }, |
| 1197 | // Gradient |
| 1198 | { 146.0, 484.0, // x |
| 1199 | 582.0, 1256.0, // y |
| 1200 | 1450.0, 2604.0, // z |
| 1201 | }, |
| 1202 | // Jacobian |
| 1203 | // x y z |
| 1204 | { /* f(x, y) */ -2.0, 0.0, -12.0, 0.0, 0.0, 0.0, |
| 1205 | 0.0, -4.0, 0.0, -16.0, 0.0, 0.0, |
| 1206 | /* g(y, z) */ 0.0, 0.0, -6.0, 0.0, -20.0, 0.0, |
| 1207 | 0.0, 0.0, 0.0, -8.0, 0.0, -24.0, |
| 1208 | /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0, |
| 1209 | 0.0, -8.0, 0.0, 0.0, 0.0, -12.0 |
| 1210 | } |
| 1211 | }; |
| 1212 | |
| 1213 | Problem::EvaluateOptions evaluate_options; |
| 1214 | evaluate_options.parameter_blocks = parameter_blocks_; |
| 1215 | evaluate_options.residual_blocks = residual_blocks_; |
| 1216 | CheckAllEvaluationCombinations(evaluate_options, expected); |
| 1217 | } |
| 1218 | |
| 1219 | TEST_F(ProblemEvaluateTest, ReorderedResidualBlocks) { |
| 1220 | ExpectedEvaluation expected = { |
| 1221 | // Rows/columns |
| 1222 | 6, 6, |
| 1223 | // Cost |
| 1224 | 7607.0, |
| 1225 | // Residuals |
| 1226 | { -19.0, -35.0, // f |
| 1227 | -27.0, -43.0, // h |
| 1228 | -59.0, -87.0 // g |
| 1229 | }, |
| 1230 | // Gradient |
| 1231 | { 146.0, 484.0, // x |
| 1232 | 582.0, 1256.0, // y |
| 1233 | 1450.0, 2604.0, // z |
| 1234 | }, |
| 1235 | // Jacobian |
| 1236 | // x y z |
| 1237 | { /* f(x, y) */ -2.0, 0.0, -12.0, 0.0, 0.0, 0.0, |
| 1238 | 0.0, -4.0, 0.0, -16.0, 0.0, 0.0, |
| 1239 | /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0, |
| 1240 | 0.0, -8.0, 0.0, 0.0, 0.0, -12.0, |
| 1241 | /* g(y, z) */ 0.0, 0.0, -6.0, 0.0, -20.0, 0.0, |
| 1242 | 0.0, 0.0, 0.0, -8.0, 0.0, -24.0 |
| 1243 | } |
| 1244 | }; |
| 1245 | |
| 1246 | Problem::EvaluateOptions evaluate_options; |
| 1247 | evaluate_options.parameter_blocks = parameter_blocks_; |
| 1248 | |
| 1249 | // f, h, g |
| 1250 | evaluate_options.residual_blocks.push_back(residual_blocks_[0]); |
| 1251 | evaluate_options.residual_blocks.push_back(residual_blocks_[2]); |
| 1252 | evaluate_options.residual_blocks.push_back(residual_blocks_[1]); |
| 1253 | |
| 1254 | CheckAllEvaluationCombinations(evaluate_options, expected); |
| 1255 | } |
| 1256 | |
| 1257 | TEST_F(ProblemEvaluateTest, ReorderedResidualBlocksAndReorderedParameterBlocks) { |
| 1258 | ExpectedEvaluation expected = { |
| 1259 | // Rows/columns |
| 1260 | 6, 6, |
| 1261 | // Cost |
| 1262 | 7607.0, |
| 1263 | // Residuals |
| 1264 | { -19.0, -35.0, // f |
| 1265 | -27.0, -43.0, // h |
| 1266 | -59.0, -87.0 // g |
| 1267 | }, |
| 1268 | // Gradient |
| 1269 | { 1450.0, 2604.0, // z |
| 1270 | 582.0, 1256.0, // y |
| 1271 | 146.0, 484.0, // x |
| 1272 | }, |
| 1273 | // Jacobian |
| 1274 | // z y x |
| 1275 | { /* f(x, y) */ 0.0, 0.0, -12.0, 0.0, -2.0, 0.0, |
| 1276 | 0.0, 0.0, 0.0, -16.0, 0.0, -4.0, |
| 1277 | /* h(z, x) */ -10.0, 0.0, 0.0, 0.0, -4.0, 0.0, |
| 1278 | 0.0, -12.0, 0.0, 0.0, 0.0, -8.0, |
| 1279 | /* g(y, z) */ -20.0, 0.0, -6.0, 0.0, 0.0, 0.0, |
| 1280 | 0.0, -24.0, 0.0, -8.0, 0.0, 0.0 |
| 1281 | } |
| 1282 | }; |
| 1283 | |
| 1284 | Problem::EvaluateOptions evaluate_options; |
| 1285 | // z, y, x |
| 1286 | evaluate_options.parameter_blocks.push_back(parameter_blocks_[2]); |
| 1287 | evaluate_options.parameter_blocks.push_back(parameter_blocks_[1]); |
| 1288 | evaluate_options.parameter_blocks.push_back(parameter_blocks_[0]); |
| 1289 | |
| 1290 | // f, h, g |
| 1291 | evaluate_options.residual_blocks.push_back(residual_blocks_[0]); |
| 1292 | evaluate_options.residual_blocks.push_back(residual_blocks_[2]); |
| 1293 | evaluate_options.residual_blocks.push_back(residual_blocks_[1]); |
| 1294 | |
| 1295 | CheckAllEvaluationCombinations(evaluate_options, expected); |
| 1296 | } |
| 1297 | |
| 1298 | TEST_F(ProblemEvaluateTest, ConstantParameterBlock) { |
| 1299 | ExpectedEvaluation expected = { |
| 1300 | // Rows/columns |
| 1301 | 6, 6, |
| 1302 | // Cost |
| 1303 | 7607.0, |
| 1304 | // Residuals |
| 1305 | { -19.0, -35.0, // f |
| 1306 | -59.0, -87.0, // g |
| 1307 | -27.0, -43.0 // h |
| 1308 | }, |
| 1309 | |
| 1310 | // Gradient |
| 1311 | { 146.0, 484.0, // x |
| 1312 | 0.0, 0.0, // y |
| 1313 | 1450.0, 2604.0, // z |
| 1314 | }, |
| 1315 | |
| 1316 | // Jacobian |
| 1317 | // x y z |
| 1318 | { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 1319 | 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, |
| 1320 | /* g(y, z) */ 0.0, 0.0, 0.0, 0.0, -20.0, 0.0, |
| 1321 | 0.0, 0.0, 0.0, 0.0, 0.0, -24.0, |
| 1322 | /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0, |
| 1323 | 0.0, -8.0, 0.0, 0.0, 0.0, -12.0 |
| 1324 | } |
| 1325 | }; |
| 1326 | |
| 1327 | problem_.SetParameterBlockConstant(parameters_ + 2); |
| 1328 | CheckAllEvaluationCombinations(Problem::EvaluateOptions(), expected); |
| 1329 | } |
| 1330 | |
| 1331 | TEST_F(ProblemEvaluateTest, ExcludedAResidualBlock) { |
| 1332 | ExpectedEvaluation expected = { |
| 1333 | // Rows/columns |
| 1334 | 4, 6, |
| 1335 | // Cost |
| 1336 | 2082.0, |
| 1337 | // Residuals |
| 1338 | { -19.0, -35.0, // f |
| 1339 | -27.0, -43.0 // h |
| 1340 | }, |
| 1341 | // Gradient |
| 1342 | { 146.0, 484.0, // x |
| 1343 | 228.0, 560.0, // y |
| 1344 | 270.0, 516.0, // z |
| 1345 | }, |
| 1346 | // Jacobian |
| 1347 | // x y z |
| 1348 | { /* f(x, y) */ -2.0, 0.0, -12.0, 0.0, 0.0, 0.0, |
| 1349 | 0.0, -4.0, 0.0, -16.0, 0.0, 0.0, |
| 1350 | /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0, |
| 1351 | 0.0, -8.0, 0.0, 0.0, 0.0, -12.0 |
| 1352 | } |
| 1353 | }; |
| 1354 | |
| 1355 | Problem::EvaluateOptions evaluate_options; |
| 1356 | evaluate_options.residual_blocks.push_back(residual_blocks_[0]); |
| 1357 | evaluate_options.residual_blocks.push_back(residual_blocks_[2]); |
| 1358 | |
| 1359 | CheckAllEvaluationCombinations(evaluate_options, expected); |
| 1360 | } |
| 1361 | |
| 1362 | TEST_F(ProblemEvaluateTest, ExcludedParameterBlock) { |
| 1363 | ExpectedEvaluation expected = { |
| 1364 | // Rows/columns |
| 1365 | 6, 4, |
| 1366 | // Cost |
| 1367 | 7607.0, |
| 1368 | // Residuals |
| 1369 | { -19.0, -35.0, // f |
| 1370 | -59.0, -87.0, // g |
| 1371 | -27.0, -43.0 // h |
| 1372 | }, |
| 1373 | |
| 1374 | // Gradient |
| 1375 | { 146.0, 484.0, // x |
| 1376 | 1450.0, 2604.0, // z |
| 1377 | }, |
| 1378 | |
| 1379 | // Jacobian |
| 1380 | // x z |
| 1381 | { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0, |
| 1382 | 0.0, -4.0, 0.0, 0.0, |
| 1383 | /* g(y, z) */ 0.0, 0.0, -20.0, 0.0, |
| 1384 | 0.0, 0.0, 0.0, -24.0, |
| 1385 | /* h(z, x) */ -4.0, 0.0, -10.0, 0.0, |
| 1386 | 0.0, -8.0, 0.0, -12.0 |
| 1387 | } |
| 1388 | }; |
| 1389 | |
| 1390 | Problem::EvaluateOptions evaluate_options; |
| 1391 | // x, z |
| 1392 | evaluate_options.parameter_blocks.push_back(parameter_blocks_[0]); |
| 1393 | evaluate_options.parameter_blocks.push_back(parameter_blocks_[2]); |
| 1394 | evaluate_options.residual_blocks = residual_blocks_; |
| 1395 | CheckAllEvaluationCombinations(evaluate_options, expected); |
| 1396 | } |
| 1397 | |
| 1398 | TEST_F(ProblemEvaluateTest, ExcludedParameterBlockAndExcludedResidualBlock) { |
| 1399 | ExpectedEvaluation expected = { |
| 1400 | // Rows/columns |
| 1401 | 4, 4, |
| 1402 | // Cost |
| 1403 | 6318.0, |
| 1404 | // Residuals |
| 1405 | { -19.0, -35.0, // f |
| 1406 | -59.0, -87.0, // g |
| 1407 | }, |
| 1408 | |
| 1409 | // Gradient |
| 1410 | { 38.0, 140.0, // x |
| 1411 | 1180.0, 2088.0, // z |
| 1412 | }, |
| 1413 | |
| 1414 | // Jacobian |
| 1415 | // x z |
| 1416 | { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0, |
| 1417 | 0.0, -4.0, 0.0, 0.0, |
| 1418 | /* g(y, z) */ 0.0, 0.0, -20.0, 0.0, |
| 1419 | 0.0, 0.0, 0.0, -24.0, |
| 1420 | } |
| 1421 | }; |
| 1422 | |
| 1423 | Problem::EvaluateOptions evaluate_options; |
| 1424 | // x, z |
| 1425 | evaluate_options.parameter_blocks.push_back(parameter_blocks_[0]); |
| 1426 | evaluate_options.parameter_blocks.push_back(parameter_blocks_[2]); |
| 1427 | evaluate_options.residual_blocks.push_back(residual_blocks_[0]); |
| 1428 | evaluate_options.residual_blocks.push_back(residual_blocks_[1]); |
| 1429 | |
| 1430 | CheckAllEvaluationCombinations(evaluate_options, expected); |
| 1431 | } |
| 1432 | |
| 1433 | TEST_F(ProblemEvaluateTest, LocalParameterization) { |
| 1434 | ExpectedEvaluation expected = { |
| 1435 | // Rows/columns |
| 1436 | 6, 5, |
| 1437 | // Cost |
| 1438 | 7607.0, |
| 1439 | // Residuals |
| 1440 | { -19.0, -35.0, // f |
| 1441 | -59.0, -87.0, // g |
| 1442 | -27.0, -43.0 // h |
| 1443 | }, |
| 1444 | // Gradient |
| 1445 | { 146.0, 484.0, // x |
| 1446 | 1256.0, // y with SubsetParameterization |
| 1447 | 1450.0, 2604.0, // z |
| 1448 | }, |
| 1449 | // Jacobian |
| 1450 | // x y z |
| 1451 | { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0, 0.0, |
| 1452 | 0.0, -4.0, -16.0, 0.0, 0.0, |
| 1453 | /* g(y, z) */ 0.0, 0.0, 0.0, -20.0, 0.0, |
| 1454 | 0.0, 0.0, -8.0, 0.0, -24.0, |
| 1455 | /* h(z, x) */ -4.0, 0.0, 0.0, -10.0, 0.0, |
| 1456 | 0.0, -8.0, 0.0, 0.0, -12.0 |
| 1457 | } |
| 1458 | }; |
| 1459 | |
| 1460 | vector<int> constant_parameters; |
| 1461 | constant_parameters.push_back(0); |
| 1462 | problem_.SetParameterization(parameters_ + 2, |
| 1463 | new SubsetParameterization(2, |
| 1464 | constant_parameters)); |
| 1465 | |
| 1466 | CheckAllEvaluationCombinations(Problem::EvaluateOptions(), expected); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 1467 | } |
| 1468 | |
| 1469 | } // namespace internal |
| 1470 | } // namespace ceres |