// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
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// Author: [email protected] (Sameer Agarwal)
#include "ceres/cost_function_to_functor.h"
#include
#include
#include "ceres/dynamic_autodiff_cost_function.h"
#include "ceres/dynamic_cost_function_to_functor.h"
#include "ceres/autodiff_cost_function.h"
#include "gtest/gtest.h"
namespace ceres {
namespace internal {
using std::vector;
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 vector& parameter_block_sizes =
cost_function.parameter_block_sizes();
const vector& 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 parameters(new double[num_parameters]);
for (int i = 0; i < num_parameters; ++i) {
parameters[i] = static_cast(i) + 1.0;
}
std::unique_ptr residuals(new double[num_residuals]);
std::unique_ptr jacobians(new double[num_parameters * num_residuals]);
std::unique_ptr actual_residuals(new double[num_residuals]);
std::unique_ptr actual_jacobians
(new double[num_parameters * num_residuals]);
std::unique_ptr parameter_blocks(
new double*[parameter_block_sizes.size()]);
std::unique_ptr jacobian_blocks(
new double*[parameter_block_sizes.size()]);
std::unique_ptr 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(), NULL));
EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
actual_residuals.get(), NULL));
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
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
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
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
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
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
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
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
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
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
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
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) { \
typedef AutoDiffCostFunction \
CostFunction1; \
typedef CostFunctionToFunctor<2, PARAMETER_BLOCK_SIZES> FunctionToFunctor; \
typedef AutoDiffCostFunction \
CostFunction2; \
\
std::unique_ptr cost_function(new CostFunction2( \
new FunctionToFunctor(new CostFunction1(new Functor1)))); \
\
std::unique_ptr 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 cost_function(
new AutoDiffCostFunction<
CostFunctionToFunctor, ceres::DYNAMIC, 2, 2>(
new CostFunctionToFunctor(
new AutoDiffCostFunction(
new TwoParameterBlockFunctor)), 2));
std::unique_ptr actual_cost_function(
new AutoDiffCostFunction(
new TwoParameterBlockFunctor));
ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function);
}
TEST(CostFunctionToFunctor, DynamicCostFunctionToFunctor) {
DynamicAutoDiffCostFunction*
actual_cost_function(
new DynamicAutoDiffCostFunction(
new DynamicTwoParameterBlockFunctor));
actual_cost_function->AddParameterBlock(2);
actual_cost_function->AddParameterBlock(2);
actual_cost_function->SetNumResiduals(2);
DynamicAutoDiffCostFunction 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);
}
} // namespace internal
} // namespace ceres
