internal/ceres/line_search_preprocessor_test.cc

   1 // Ceres Solver - A fast non-linear least squares minimizer
   2 // Copyright 2015 Google Inc. All rights reserved.
   3 // http://ceres-solver.org/
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   9 //   this list of conditions and the following disclaimer.
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  14 //   used to endorse or promote products derived from this software without
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  20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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  27 // POSSIBILITY OF SUCH DAMAGE.
  28 //
  29 // Author: sameeragarwal@google.com (Sameer Agarwal)
  30
  31 #include <map>
  32
  33 #include "ceres/problem_impl.h"
  34 #include "ceres/sized_cost_function.h"
  35 #include "ceres/solver.h"
  36 #include "ceres/line_search_preprocessor.h"
  37 #include "gtest/gtest.h"
  38
  39 namespace ceres {
  40 namespace internal {
  41
  42 TEST(LineSearchPreprocessor, ZeroProblem) {
  43   ProblemImpl problem;
  44   Solver::Options options;
  45   options.minimizer_type = LINE_SEARCH;
  46   LineSearchPreprocessor preprocessor;
  47   PreprocessedProblem pp;
  48   EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
  49 }
  50
  51 TEST(LineSearchPreprocessor, ProblemWithInvalidParameterBlock) {
  52   ProblemImpl problem;
  53   double x = std::numeric_limits<double>::quiet_NaN();
  54   problem.AddParameterBlock(&x, 1);
  55   Solver::Options options;
  56   options.minimizer_type = LINE_SEARCH;
  57   LineSearchPreprocessor preprocessor;
  58   PreprocessedProblem pp;
  59   EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
  60 }
  61
  62 TEST(LineSearchPreprocessor, ParameterBlockHasBounds) {
  63   ProblemImpl problem;
  64   double x = 1.0;
  65   problem.AddParameterBlock(&x, 1);
  66   problem.SetParameterUpperBound(&x, 0, 1.0);
  67   problem.SetParameterLowerBound(&x, 0, 2.0);
  68   Solver::Options options;
  69   options.minimizer_type = LINE_SEARCH;
  70   LineSearchPreprocessor preprocessor;
  71   PreprocessedProblem pp;
  72   EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
  73 }
  74
  75 class FailingCostFunction : public SizedCostFunction<1, 1> {
  76  public:
  77   bool Evaluate(double const* const* parameters,
  78                 double* residuals,
  79                 double** jacobians) const {
  80     return false;
  81   }
  82 };
  83
  84 TEST(LineSearchPreprocessor, RemoveParameterBlocksFailed) {
  85   ProblemImpl problem;
  86   double x = 3.0;
  87   problem.AddResidualBlock(new FailingCostFunction, NULL, &x);
  88   problem.SetParameterBlockConstant(&x);
  89   Solver::Options options;
  90   options.minimizer_type = LINE_SEARCH;
  91   LineSearchPreprocessor preprocessor;
  92   PreprocessedProblem pp;
  93   EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
  94 }
  95
  96 TEST(LineSearchPreprocessor, RemoveParameterBlocksSucceeds) {
  97   ProblemImpl problem;
  98   double x = 3.0;
  99   problem.AddParameterBlock(&x, 1);
 100   Solver::Options options;
 101   options.minimizer_type = LINE_SEARCH;
 102   LineSearchPreprocessor preprocessor;
 103   PreprocessedProblem pp;
 104   EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
 105 }
 106
 107 template<int kNumResiduals, int N1 = 0, int N2 = 0, int N3 = 0>
 108 class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {
 109  public:
 110   bool Evaluate(double const* const* parameters,
 111                 double* residuals,
 112                 double** jacobians) const {
 113     return true;
 114   }
 115 };
 116
 117 TEST(LineSearchPreprocessor, NormalOperation) {
 118   ProblemImpl problem;
 119   double x = 1.0;
 120   double y = 1.0;
 121   double z = 1.0;
 122   problem.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &x, &y);
 123   problem.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &y, &z);
 124
 125   Solver::Options options;
 126   options.minimizer_type = LINE_SEARCH;
 127
 128   LineSearchPreprocessor preprocessor;
 129   PreprocessedProblem pp;
 130   EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
 131   EXPECT_EQ(pp.evaluator_options.linear_solver_type, CGNR);
 132   EXPECT_TRUE(pp.evaluator.get() != NULL);
 133 }
 134
 135 }  // namespace internal
 136 }  // namespace ceres