// 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/
//
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// 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
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//
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// POSSIBILITY OF SUCH DAMAGE.
//
// Author: keir@google.com (Keir Mierle)
#include "ceres/numeric_diff_cost_function.h"
#include <algorithm>
#include <cmath>
#include <string>
#include <vector>
#include "ceres/internal/macros.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/numeric_diff_test_utils.h"
#include "ceres/test_util.h"
#include "ceres/types.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
namespace ceres {
namespace internal {
TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferences) {
internal::scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor,
CENTRAL,
3, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new EasyFunctor));
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
TEST(NumericDiffCostFunction, EasyCaseFunctorForwardDifferences) {
internal::scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor,
FORWARD,
3, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new EasyFunctor));
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
}
TEST(NumericDiffCostFunction, EasyCaseCostFunctionCentralDifferences) {
internal::scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<EasyCostFunction,
CENTRAL,
3, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new EasyCostFunction, TAKE_OWNERSHIP));
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
TEST(NumericDiffCostFunction, EasyCaseCostFunctionForwardDifferences) {
internal::scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<EasyCostFunction,
FORWARD,
3, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new EasyCostFunction, TAKE_OWNERSHIP));
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
}
TEST(NumericDiffCostFunction, TranscendentalCaseFunctorCentralDifferences) {
internal::scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<TranscendentalFunctor,
CENTRAL,
2, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new TranscendentalFunctor));
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
TEST(NumericDiffCostFunction, TranscendentalCaseFunctorForwardDifferences) {
internal::scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<TranscendentalFunctor,
FORWARD,
2, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new TranscendentalFunctor));
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
}
TEST(NumericDiffCostFunction, TranscendentalCaseCostFunctionCentralDifferences) {
internal::scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<TranscendentalCostFunction,
CENTRAL,
2, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new TranscendentalCostFunction, TAKE_OWNERSHIP));
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
TEST(NumericDiffCostFunction, TranscendentalCaseCostFunctionForwardDifferences) {
internal::scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<TranscendentalCostFunction,
FORWARD,
2, /* number of residuals */
5, /* size of x1 */
5 /* size of x2 */>(
new TranscendentalCostFunction, TAKE_OWNERSHIP));
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
}
template<int num_rows, int num_cols>
class SizeTestingCostFunction : public SizedCostFunction<num_rows, num_cols> {
public:
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
return true;
}
};
// As described in
// http://forum.kde.org/viewtopic.php?f=74&t=98536#p210774
// Eigen3 has restrictions on the Row/Column major storage of vectors,
// depending on their dimensions. This test ensures that the correct
// templates are instantiated for various shapes of the Jacobian
// matrix.
TEST(NumericDiffCostFunction, EigenRowMajorColMajorTest) {
scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<SizeTestingCostFunction<1,1>, CENTRAL, 1, 1>(
new SizeTestingCostFunction<1,1>, ceres::TAKE_OWNERSHIP));
cost_function.reset(
new NumericDiffCostFunction<SizeTestingCostFunction<2,1>, CENTRAL, 2, 1>(
new SizeTestingCostFunction<2,1>, ceres::TAKE_OWNERSHIP));
cost_function.reset(
new NumericDiffCostFunction<SizeTestingCostFunction<1,2>, CENTRAL, 1, 2>(
new SizeTestingCostFunction<1,2>, ceres::TAKE_OWNERSHIP));
cost_function.reset(
new NumericDiffCostFunction<SizeTestingCostFunction<2,2>, CENTRAL, 2, 2>(
new SizeTestingCostFunction<2,2>, ceres::TAKE_OWNERSHIP));
}
TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferencesAndDynamicNumResiduals) {
internal::scoped_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor,
CENTRAL,
ceres::DYNAMIC,
5, /* size of x1 */
5 /* size of x2 */>(
new EasyFunctor, TAKE_OWNERSHIP, 3));
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
} // namespace internal
} // namespace ceres