107 lines
4.2 KiB
C++
107 lines
4.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2014 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include "gtest/gtest.h"
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#include "ceres/autodiff_cost_function.h"
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#include "ceres/linear_solver.h"
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#include "ceres/ordered_groups.h"
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#include "ceres/parameter_block.h"
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#include "ceres/problem_impl.h"
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#include "ceres/program.h"
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#include "ceres/residual_block.h"
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#include "ceres/solver_impl.h"
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#include "ceres/sized_cost_function.h"
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namespace ceres {
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namespace internal {
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// The parameters must be in separate blocks so that they can be individually
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// set constant or not.
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struct Quadratic4DCostFunction {
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template <typename T> bool operator()(const T* const x,
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const T* const y,
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const T* const z,
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const T* const w,
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T* residual) const {
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// A 4-dimension axis-aligned quadratic.
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residual[0] = T(10.0) - *x +
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T(20.0) - *y +
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T(30.0) - *z +
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T(40.0) - *w;
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return true;
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}
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};
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TEST(SolverImpl, ConstantParameterBlocksDoNotChangeAndStateInvariantKept) {
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double x = 50.0;
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double y = 50.0;
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double z = 50.0;
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double w = 50.0;
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const double original_x = 50.0;
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const double original_y = 50.0;
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const double original_z = 50.0;
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const double original_w = 50.0;
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scoped_ptr<CostFunction> cost_function(
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new AutoDiffCostFunction<Quadratic4DCostFunction, 1, 1, 1, 1, 1>(
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new Quadratic4DCostFunction));
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Problem::Options problem_options;
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problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
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ProblemImpl problem(problem_options);
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problem.AddResidualBlock(cost_function.get(), NULL, &x, &y, &z, &w);
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problem.SetParameterBlockConstant(&x);
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problem.SetParameterBlockConstant(&w);
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Solver::Options options;
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options.linear_solver_type = DENSE_QR;
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Solver::Summary summary;
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SolverImpl::Solve(options, &problem, &summary);
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// Verify only the non-constant parameters were mutated.
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EXPECT_EQ(original_x, x);
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EXPECT_NE(original_y, y);
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EXPECT_NE(original_z, z);
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EXPECT_EQ(original_w, w);
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// Check that the parameter block state pointers are pointing back at the
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// user state, instead of inside a random temporary vector made by Solve().
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EXPECT_EQ(&x, problem.program().parameter_blocks()[0]->state());
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EXPECT_EQ(&y, problem.program().parameter_blocks()[1]->state());
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EXPECT_EQ(&z, problem.program().parameter_blocks()[2]->state());
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EXPECT_EQ(&w, problem.program().parameter_blocks()[3]->state());
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EXPECT_TRUE(problem.program().IsValid());
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}
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} // namespace internal
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} // namespace ceres
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