1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2014 Google Inc. All rights reserved. 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 (at) google.com (Sameer Agarwal) 30 31 #include "gtest/gtest.h" 32 #include "ceres/autodiff_cost_function.h" 33 #include "ceres/linear_solver.h" 34 #include "ceres/ordered_groups.h" 35 #include "ceres/parameter_block.h" 36 #include "ceres/problem_impl.h" 37 #include "ceres/program.h" 38 #include "ceres/residual_block.h" 39 #include "ceres/solver_impl.h" 40 #include "ceres/sized_cost_function.h" 41 42 namespace ceres { 43 namespace internal { 44 45 // The parameters must be in separate blocks so that they can be individually 46 // set constant or not. 47 struct Quadratic4DCostFunction { 48 template <typename T> bool operator()(const T* const x, 49 const T* const y, 50 const T* const z, 51 const T* const w, 52 T* residual) const { 53 // A 4-dimension axis-aligned quadratic. 54 residual[0] = T(10.0) - *x + 55 T(20.0) - *y + 56 T(30.0) - *z + 57 T(40.0) - *w; 58 return true; 59 } 60 }; 61 62 TEST(SolverImpl, ConstantParameterBlocksDoNotChangeAndStateInvariantKept) { 63 double x = 50.0; 64 double y = 50.0; 65 double z = 50.0; 66 double w = 50.0; 67 const double original_x = 50.0; 68 const double original_y = 50.0; 69 const double original_z = 50.0; 70 const double original_w = 50.0; 71 72 scoped_ptr<CostFunction> cost_function( 73 new AutoDiffCostFunction<Quadratic4DCostFunction, 1, 1, 1, 1, 1>( 74 new Quadratic4DCostFunction)); 75 76 Problem::Options problem_options; 77 problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP; 78 79 ProblemImpl problem(problem_options); 80 problem.AddResidualBlock(cost_function.get(), NULL, &x, &y, &z, &w); 81 problem.SetParameterBlockConstant(&x); 82 problem.SetParameterBlockConstant(&w); 83 84 Solver::Options options; 85 options.linear_solver_type = DENSE_QR; 86 87 Solver::Summary summary; 88 SolverImpl::Solve(options, &problem, &summary); 89 90 // Verify only the non-constant parameters were mutated. 91 EXPECT_EQ(original_x, x); 92 EXPECT_NE(original_y, y); 93 EXPECT_NE(original_z, z); 94 EXPECT_EQ(original_w, w); 95 96 // Check that the parameter block state pointers are pointing back at the 97 // user state, instead of inside a random temporary vector made by Solve(). 98 EXPECT_EQ(&x, problem.program().parameter_blocks()[0]->state()); 99 EXPECT_EQ(&y, problem.program().parameter_blocks()[1]->state()); 100 EXPECT_EQ(&z, problem.program().parameter_blocks()[2]->state()); 101 EXPECT_EQ(&w, problem.program().parameter_blocks()[3]->state()); 102 103 EXPECT_TRUE(problem.program().IsValid()); 104 } 105 106 } // namespace internal 107 } // namespace ceres 108
