Squashed 'third_party/ceres/' content from commit e51e9b4
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diff --git a/internal/ceres/autodiff_cost_function_test.cc b/internal/ceres/autodiff_cost_function_test.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// 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
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// 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)
+
+#include "ceres/autodiff_cost_function.h"
+
+#include <cstddef>
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "ceres/cost_function.h"
+#include "ceres/array_utils.h"
+
+namespace ceres {
+namespace internal {
+
+class BinaryScalarCost {
+ public:
+ explicit BinaryScalarCost(double a): a_(a) {}
+ template <typename T>
+ bool operator()(const T* const x, const T* const y,
+ T* cost) const {
+ cost[0] = x[0] * y[0] + x[1] * y[1] - T(a_);
+ return true;
+ }
+ private:
+ double a_;
+};
+
+TEST(AutodiffCostFunction, BilinearDifferentiationTest) {
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<BinaryScalarCost, 1, 2, 2>(
+ new BinaryScalarCost(1.0));
+
+ double** parameters = new double*[2];
+ parameters[0] = new double[2];
+ parameters[1] = new double[2];
+
+ parameters[0][0] = 1;
+ parameters[0][1] = 2;
+
+ parameters[1][0] = 3;
+ parameters[1][1] = 4;
+
+ double** jacobians = new double*[2];
+ jacobians[0] = new double[2];
+ jacobians[1] = new double[2];
+
+ double residuals = 0.0;
+
+ cost_function->Evaluate(parameters, &residuals, NULL);
+ EXPECT_EQ(10.0, residuals);
+
+ cost_function->Evaluate(parameters, &residuals, jacobians);
+ EXPECT_EQ(10.0, residuals);
+
+ EXPECT_EQ(3, jacobians[0][0]);
+ EXPECT_EQ(4, jacobians[0][1]);
+ EXPECT_EQ(1, jacobians[1][0]);
+ EXPECT_EQ(2, jacobians[1][1]);
+
+ delete[] jacobians[0];
+ delete[] jacobians[1];
+ delete[] parameters[0];
+ delete[] parameters[1];
+ delete[] jacobians;
+ delete[] parameters;
+ delete cost_function;
+}
+
+struct TenParameterCost {
+ template <typename T>
+ bool operator()(const T* const x0,
+ const T* const x1,
+ const T* const x2,
+ const T* const x3,
+ const T* const x4,
+ const T* const x5,
+ const T* const x6,
+ const T* const x7,
+ const T* const x8,
+ const T* const x9,
+ T* cost) const {
+ cost[0] = *x0 + *x1 + *x2 + *x3 + *x4 + *x5 + *x6 + *x7 + *x8 + *x9;
+ return true;
+ }
+};
+
+TEST(AutodiffCostFunction, ManyParameterAutodiffInstantiates) {
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<
+ TenParameterCost, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1>(
+ new TenParameterCost);
+
+ double** parameters = new double*[10];
+ double** jacobians = new double*[10];
+ for (int i = 0; i < 10; ++i) {
+ parameters[i] = new double[1];
+ parameters[i][0] = i;
+ jacobians[i] = new double[1];
+ }
+
+ double residuals = 0.0;
+
+ cost_function->Evaluate(parameters, &residuals, NULL);
+ EXPECT_EQ(45.0, residuals);
+
+ cost_function->Evaluate(parameters, &residuals, jacobians);
+ EXPECT_EQ(residuals, 45.0);
+ for (int i = 0; i < 10; ++i) {
+ EXPECT_EQ(1.0, jacobians[i][0]);
+ }
+
+ for (int i = 0; i < 10; ++i) {
+ delete[] jacobians[i];
+ delete[] parameters[i];
+ }
+ delete[] jacobians;
+ delete[] parameters;
+ delete cost_function;
+}
+
+struct OnlyFillsOneOutputFunctor {
+ template <typename T>
+ bool operator()(const T* x, T* output) const {
+ output[0] = x[0];
+ return true;
+ }
+};
+
+TEST(AutoDiffCostFunction, PartiallyFilledResidualShouldFailEvaluation) {
+ double parameter = 1.0;
+ double jacobian[2];
+ double residuals[2];
+ double* parameters[] = {¶meter};
+ double* jacobians[] = {jacobian};
+
+ std::unique_ptr<CostFunction> cost_function(
+ new AutoDiffCostFunction<OnlyFillsOneOutputFunctor, 2, 1>(
+ new OnlyFillsOneOutputFunctor));
+ InvalidateArray(2, jacobian);
+ InvalidateArray(2, residuals);
+ EXPECT_TRUE(cost_function->Evaluate(parameters, residuals, jacobians));
+ EXPECT_FALSE(IsArrayValid(2, jacobian));
+ EXPECT_FALSE(IsArrayValid(2, residuals));
+}
+
+} // namespace internal
+} // namespace ceres