// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// 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
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// 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)
// keir@google.com (Keir Mierle)
#include "ceres/problem.h"
#include "gtest/gtest.h"
#include "ceres/cost_function.h"
#include "ceres/local_parameterization.h"
#include "ceres/sized_cost_function.h"
#include "ceres/internal/scoped_ptr.h"
namespace ceres {
namespace internal {
// The following three classes are for the purposes of defining
// function signatures. They have dummy Evaluate functions.
// Trivial cost function that accepts a single argument.
class UnaryCostFunction : public CostFunction {
public:
UnaryCostFunction(int num_residuals, int16 parameter_block_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block_size);
}
virtual ~UnaryCostFunction() {}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
for (int i = 0; i < num_residuals(); ++i) {
residuals[i] = 1;
}
return true;
}
};
// Trivial cost function that accepts two arguments.
class BinaryCostFunction: public CostFunction {
public:
BinaryCostFunction(int num_residuals,
int16 parameter_block1_size,
int16 parameter_block2_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block1_size);
mutable_parameter_block_sizes()->push_back(parameter_block2_size);
}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
for (int i = 0; i < num_residuals(); ++i) {
residuals[i] = 2;
}
return true;
}
};
// Trivial cost function that accepts three arguments.
class TernaryCostFunction: public CostFunction {
public:
TernaryCostFunction(int num_residuals,
int16 parameter_block1_size,
int16 parameter_block2_size,
int16 parameter_block3_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block1_size);
mutable_parameter_block_sizes()->push_back(parameter_block2_size);
mutable_parameter_block_sizes()->push_back(parameter_block3_size);
}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
for (int i = 0; i < num_residuals(); ++i) {
residuals[i] = 3;
}
return true;
}
};
TEST(Problem, AddResidualWithNullCostFunctionDies) {
double x[3], y[4], z[5];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
problem.AddParameterBlock(z, 5);
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(NULL, NULL, x),
"'cost_function' Must be non NULL");
}
TEST(Problem, AddResidualWithIncorrectNumberOfParameterBlocksDies) {
double x[3], y[4], z[5];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
problem.AddParameterBlock(z, 5);
// UnaryCostFunction takes only one parameter, but two are passed.
EXPECT_DEATH_IF_SUPPORTED(
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x, y),
"parameter_blocks.size()");
}
TEST(Problem, AddResidualWithDifferentSizesOnTheSameVariableDies) {
double x[3];
Problem problem;
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
new UnaryCostFunction(
2, 4 /* 4 != 3 */), NULL, x),
"different block sizes");
}
TEST(Problem, AddResidualWithDuplicateParametersDies) {
double x[3], z[5];
Problem problem;
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
new BinaryCostFunction(2, 3, 3), NULL, x, x),
"Duplicate parameter blocks");
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
new TernaryCostFunction(1, 5, 3, 5),
NULL, z, x, z),
"Duplicate parameter blocks");
}
TEST(Problem, AddResidualWithIncorrectSizesOfParameterBlockDies) {
double x[3], y[4], z[5];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
problem.AddParameterBlock(z, 5);
// The cost function expects the size of the second parameter, z, to be 4
// instead of 5 as declared above. This is fatal.
EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
new BinaryCostFunction(2, 3, 4), NULL, x, z),
"different block sizes");
}
TEST(Problem, AddResidualAddsDuplicatedParametersOnlyOnce) {
double x[3], y[4], z[5];
Problem problem;
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
problem.AddResidualBlock(new UnaryCostFunction(2, 5), NULL, z);
EXPECT_EQ(3, problem.NumParameterBlocks());
EXPECT_EQ(12, problem.NumParameters());
}
TEST(Problem, AddParameterWithDifferentSizesOnTheSameVariableDies) {
double x[3], y[4];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(x, 4),
"different block sizes");
}
static double *IntToPtr(int i) {
return reinterpret_cast<double*>(sizeof(double) * i); // NOLINT
}
TEST(Problem, AddParameterWithAliasedParametersDies) {
// Layout is
//
// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
// [x] x x x x [y] y y
// o==o==o o==o==o o==o
// o--o--o o--o--o o--o o--o--o
//
// Parameter block additions are tested as listed above; expected successful
// ones marked with o==o and aliasing ones marked with o--o.
Problem problem;
problem.AddParameterBlock(IntToPtr(5), 5); // x
problem.AddParameterBlock(IntToPtr(13), 3); // y
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 2),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 3),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 9),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 8), 3),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(12), 2),
"Aliasing detected");
EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(14), 3),
"Aliasing detected");
// These ones should work.
problem.AddParameterBlock(IntToPtr( 2), 3);
problem.AddParameterBlock(IntToPtr(10), 3);
problem.AddParameterBlock(IntToPtr(16), 2);
ASSERT_EQ(5, problem.NumParameterBlocks());
}
TEST(Problem, AddParameterIgnoresDuplicateCalls) {
double x[3], y[4];
Problem problem;
problem.AddParameterBlock(x, 3);
problem.AddParameterBlock(y, 4);
// Creating parameter blocks multiple times is ignored.
problem.AddParameterBlock(x, 3);
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
// ... even repeatedly.
problem.AddParameterBlock(x, 3);
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
// More parameters are fine.
problem.AddParameterBlock(y, 4);
problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
EXPECT_EQ(2, problem.NumParameterBlocks());
EXPECT_EQ(7, problem.NumParameters());
}
TEST(Problem, AddingParametersAndResidualsResultsInExpectedProblem) {
double x[3], y[4], z[5], w[4];
Problem problem;
problem.AddParameterBlock(x, 3);
EXPECT_EQ(1, problem.NumParameterBlocks());
EXPECT_EQ(3, problem.NumParameters());
problem.AddParameterBlock(y, 4);
EXPECT_EQ(2, problem.NumParameterBlocks());
EXPECT_EQ(7, problem.NumParameters());
problem.AddParameterBlock(z, 5);
EXPECT_EQ(3, problem.NumParameterBlocks());
EXPECT_EQ(12, problem.NumParameters());
// Add a parameter that has a local parameterization.
w[0] = 1.0; w[1] = 0.0; w[2] = 0.0; w[3] = 0.0;
problem.AddParameterBlock(w, 4, new QuaternionParameterization);
EXPECT_EQ(4, problem.NumParameterBlocks());
EXPECT_EQ(16, problem.NumParameters());
problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
problem.AddResidualBlock(new BinaryCostFunction(6, 5, 4) , NULL, z, y);
problem.AddResidualBlock(new BinaryCostFunction(3, 3, 5), NULL, x, z);
problem.AddResidualBlock(new BinaryCostFunction(7, 5, 3), NULL, z, x);
problem.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4), NULL, z, x, y);
const int total_residuals = 2 + 6 + 3 + 7 + 1;
EXPECT_EQ(problem.NumResidualBlocks(), 5);
EXPECT_EQ(problem.NumResiduals(), total_residuals);
}
class DestructorCountingCostFunction : public SizedCostFunction<3, 4, 5> {
public:
explicit DestructorCountingCostFunction(int *counter)
: counter_(counter) {}
virtual ~DestructorCountingCostFunction() {
*counter_ += 1;
}
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
return true;
}
private:
int* counter_;
};
TEST(Problem, ReusedCostFunctionsAreOnlyDeletedOnce) {
double y[4], z[5];
int counter = 0;
// Add a cost function multiple times and check to make sure that
// the destructor on the cost function is only called once.
{
Problem problem;
problem.AddParameterBlock(y, 4);
problem.AddParameterBlock(z, 5);
CostFunction* cost = new DestructorCountingCostFunction(&counter);
problem.AddResidualBlock(cost, NULL, y, z);
problem.AddResidualBlock(cost, NULL, y, z);
problem.AddResidualBlock(cost, NULL, y, z);
}
// Check that the destructor was called only once.
CHECK_EQ(counter, 1);
}
} // namespace internal
} // namespace ceres